Hello I have a Robot with four arms and Im using the MoveIt package. for each arm i´ve created a ikfast solver and a different plugin/catkin package. However moveit seems to load only one solver for all of the arms. It also seems to be a common problem but i havent found any solutions. When using one plugin alone the demo.launch is working fine for one leg. so all solver are working correct.

arm_1:
  kinematics_solver: arm_1_kinematics/IKFastKinematicsPlugin
  kinematics_solver_attempts: 3
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.005
arm_2:
  kinematics_solver: arm_1_kinematics/IKFastKinematicsPlugin
  kinematics_solver_attempts: 3
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.005
arm_3:
  kinematics_solver: arm_1kinematics/IKFastKinematicsPlugin
  kinematics_solver_attempts: 3
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.005
arm_4:
  kinematics_solver: arm_1_kinematics/IKFastKinematicsPlugin
  kinematics_solver_attempts: 3
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.005