Running multiple move_base

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Hello, I'm trying to run multiple instances of move_basefor the fetch robot, https://github.com/ZebraDevs/fetch_ro....

I'd like to use the navfn global planner, as well as carrot planner global sometimes, but I'm not sure how to launch multiple move_base nodes.

Here are the steps I have taken:

Inside fetch_nav.launch , replaced

  <include file="$(arg move_base_include)">
    <arg name="name" value="fetch" />
    <arg if="$(arg use_keepout)" name="map_topic" value="map_keepout" />
    <arg unless="$(arg use_keepout)" name="map_topic" value="$(arg map_topic)" />
    <arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)" />
    <arg name="odom_topic" value="$(arg odom_topic)" />
  </include>

with

  <include file="$(arg move_base_include)" ns = "move_base_planner_navfn">
    <arg name="name" value="fetch" />
    <arg if="$(arg use_keepout)" name="map_topic" value="map_keepout" />
    <arg unless="$(arg use_keepout)" name="map_topic" value="$(arg map_topic)" />
    <arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)" />
    <arg name="odom_topic" value="$(arg odom_topic)" />
  </include>

  <include file="$(arg move_base_carrot_include)" ns = "move_base_planner_carrot">
    <arg name="name" value="fetch" />
    <arg if="$(arg use_keepout)" name="map_topic" value="map_keepout" />
    <arg unless="$(arg use_keepout)" name="map_topic" value="$(arg map_topic)" />
    <arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)" />
    <arg name="odom_topic" value="$(arg odom_topic)" />
  </include>

I copied the move_base.launch.xml and created a move_base_carrot.launch.xml which is the move_base_carrot_include arg. And in my move_base_carrot.launch.xml, I've spawned a move_base node, similar to the other file, and replaced move_base.yaml with move_base_carrot.yaml.

The move_base_carrot.yaml is here:

# Planner selection
base_global_planner: "carrot_planner/CarrotPlanner"
base_local_planner: "base_local_planner/TrajectoryPlannerROS"

# Recovery behaviors are defined in robot folders

# Oscillation
oscillation_timeout: 10.0
oscillation_distance: 0.5

# Global planner
planner_frequency: 0.0
planner_patience: 50.0

# Local planner
controller_frequency: 3.0
controller_patience: 30.0
TrajectoryPlannerROS:
  # base vel/accel profile is in robot folders
  # tolerances (defaults)
  yaw_goal_tolerance: 1.5
  xy_goal_tolerance: 0.15
  latch_xy_goal_tolerance: true
  # forward simulation
  sim_time: 1.0
  sim_granularity: 0.025
  angular_sim_granularity: 0.025
  vx_samples: 3
  vtheta_samples: 10
  # scoring (defaults)
  meter_scoring: true
  path_distance_bias: 0.5
  goal_distance_bias: 0.75
  occdist_scale: 0.00625
  heading_lookahead: 0.325
  heading_scoring_timestep: 0.8
  heading_scoring: true
  dwa: false
  # other
  oscillation_reset_dist: 0.5
  # debug
  publish_cost_grid_pc: false

The problem is that I cannot run them together. I can run only one planner, i.e. I can run the carrot planner alone (from the fetch_nav.launch) or the navfn planner, but not both together in the launch file. Moreover, I can get the planners working, only if I do not have a namespace specified in fetch_nav.launch. Once I specify the namespace, neither planner works (not even individually). I'm guessing there is a namespace issue, but I do not know how to fix it.

Any help would be appreciated.

Thanks