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I managed to solve the problem in rotation. it seems that the kobuki plugin just generate one set of odom and other sensors and still it is the namespace problem. However I had another problem and I added it into the original question. Please do help me if you have any idea. Thanks!

I managed to solve the problem in rotation. it seems that the kobuki plugin just ~~generate~~ generates one set of odom and other sensors and still it is the namespace problem. However I had another problem and I added it into the original question. Please do help me if you have any idea. Thanks!

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