Running multiple Kobuki bases in the same roscore by changing node names.

edit

Hi! I need to run two Qbot2s (Kobuki bases) within the same network using ROS Kinetic distro. I have figured out that I need to launch them with different node names. So I edited my kobuki/kobuki_node/launch/minimal.launch file by giving name spaces for the nodes.

<launch>
  <arg name="kobuki_publish_tf" default="true"/> 

  <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" ns="qbot0_nm" args="manager"/>
  <node pkg="nodelet" type="nodelet" name="mobile_base" ns="qbot0" args="load kobuki_node/KobukiNodelet mobile_base_nodelet_manager">
    <rosparam file="$(find kobuki_node)/param/base.yaml" command="load"/>
    <param name="publish_tf" value="$(arg kobuki_publish_tf)"/>
    <remap from="mobile_base/odom" to="odom"/>
    <remap from="mobile_base/joint_states" to="joint_states"/>
  </node>

  <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" ns="qbot0_da">
    <rosparam command="load" file="$(find kobuki_node)/param/diagnostics.yaml" />
  </node>
</launch>

Here I have given namespace parameter for all three nodes available. When I launch the given file, I can see the nodes registered with new names.

>> rosnode list 
/qbot0/mobile_base
/qbot0_da/diagnostic_aggregator
/qbot0_nm/mobile_base_nodelet_manager
/rosout

But when I look at the rostopic list, I still cannot see the topics relevant to Kobuki base (eg: odom, joint_states etc. ). Here is my rostopic list,

>> rostopic list
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/rosout
/rosout_agg

This is the structure of the rostopic list I should be getting, (generated by using the original launch file)

>> rostopic list
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/joint_states
/mobile_base/commands/controller_info
/mobile_base/commands/digital_output
/mobile_base/commands/external_power
/mobile_base/commands/led1
/mobile_base/commands/led2
/mobile_base/commands/motor_power
/mobile_base/commands/reset_odometry
/mobile_base/commands/sound
/mobile_base/commands/velocity
/mobile_base/controller_info
/mobile_base/debug/raw_control_command
/mobile_base/debug/raw_data_command
/mobile_base/debug/raw_data_stream
/mobile_base/events/bumper
/mobile_base/events/button
/mobile_base/events/cliff
/mobile_base/events/digital_input
/mobile_base/events/power_system
/mobile_base/events/robot_state
/mobile_base/events/wheel_drop
/mobile_base/sensors/core
/mobile_base/sensors/dock_ir
/mobile_base/sensors/imu_data
/mobile_base/sensors/imu_data_raw
/mobile_base/version_info
/mobile_base_nodelet_manager/bond
/odom
/rosout
/rosout_agg
/tf

I have an intuition that I need to map the new node names with expected topics, but I do not know how to. Can you help me identify the way I should so this task? Thanks in advance.