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Would it be possible to circulate a working example of multiple Huskies in Gazebo as a conclusion to this thread? I am trying to reproduce this example without any luck. I believe the crux of my issue is being able to set the frameId for the velocity controller in gazebo - as mentioned in one of the comments above. I am able to specify the frameId, with a different prefix for each robot, for the Gazebo-simulated IMU and GPS , but can't seem to determine how to do the same for the Gazebo-simulated odometry.

I have posted a new question to try and get at this...

http://answers.ros.org/question/228380/gazebo-with-multiple-odometery-frames/

but haven't had any responses.

Thank you. Brian