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I've spawned 2 similar robots(with their controllers) with distinct namespaces (robot1,robot2) in Gazebo according to this. I intend to run two separate moveit instances to control them.

For now I've been trying to control one of them while the other is present in simulation. The problem that I face is that gazebo publishes joint states as robot1/joint_states and robot2/joint_states but I get an error saying joint_states not found. So I remapped robot1/joint_states to /joint_states and all works fine but this would be a problem when i try to control the second robot. The rqt_graph after remap is attached : C:\fakepath\rosgraph2.png

how can I make moveit subscribe to robot1/joint_states ? or is there any other way to do this ?

PS : I do not want to run both robots using the same moveit node


Originally posted by mewbot on ROS Answers with karma: 71 on 2018-10-30

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Comment by mewbot on 2018-10-30:
Will it work if i include moveit also in 'robot1' namespace

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I solved it !

Adding a <group ns="robot1"> tag inside my moveit launch file brought the whole moveit into my "robot1" namespace. Here is the new rqt_graph :image description


Originally posted by mewbot with karma: 71 on 2018-10-31

This answer was ACCEPTED on the original site

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Original comments

Comment by Abhishekpg on 2019-12-05:
Hi did u used single urdf file for both the robots??

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