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Feedback is published on the feedback topic inside the action's namespace. You never get to pick the feedback's topic name.
actionlib is not designed to have two action servers publishing to the same namespace:
- If both servers use the same action type, then it becomes ambiguous as to which server will execute the goal.
- If both servers use different action types, then there will be lots of MD5sum errors due to multiple message types publishing and subscribing to the same topics
My suggestion would be to create your own motor_velocity topic outside of the action definition. This gives you lots of flexibility, and lets all of your action servers publish motor_velocity on the same topic.
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