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the issue I am running into is the mapping of topics and parameters

If you have an issue with the mapping then you can use the tag remap in your launch file, see the wiki. It works for topics and params.

Your example will look like :

<launch>
  <group ns="vehicle1">
     <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
         <remap from="vehicle1/map" to="/map"/>
     </node>

</group> <group ns="vehicle2"> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <remap from="vehicle2/map" to="/map"/> </node> </group> </launch>

NB : The / in the remapping is really important because it defines a global namespace and avoid the remapping of the grouptag. You have a detailled explanation here.

the issue I am running into is the mapping of topics and parameters

If you have an issue with the mapping then you can use the tag remap in your launch file, see the wiki. It works for topics and params.

Your example will look like :

<launch>
  <group ns="vehicle1">
     <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
       <remap from="vehicle1/map" to="/map"/>
     </node>

</group> <group ns="vehicle2"> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <remap from="vehicle2/map" to="/map"/> </node> </group> </launch>

NB : The / in the remapping is really important because it defines a global namespace and avoid the remapping of the grouptag. You have a detailled explanation here.

the issue I am running into is the mapping of topics and parameters

If you have an issue with the mapping then you can use the tag remap in your launch file, see the wiki. It works for topics and params.

Your example will look like :

<launch>
  <group ns="vehicle1">
    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
      <remap from="vehicle1/map" to="/map"/>
     </node>
  </group>
  <group ns="vehicle2">
     <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
       <remap from="vehicle2/map" to="/map"/>
     </node>
  </group>
</launch>

NB : The / in the remapping is really important because it defines a global namespace and avoid the remapping of the grouptag. You have a detailled explanation here.