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Hi,

I created a small example of how to spawn infinite number of robots in ROS2 with tehir own namespaces, both in the Tfs, the imu and the cmd_vel topics.

The basic idea is that we parse the URDF/SDF file in a way that we place a remapping of the different topics like tf and also spawn with namespaces. Using that it seems at least this basic example work:

Here is the GIT:BOX BOT GIT

Here is the video explaining it and with a demo:link text

Here is the rosject with the whole project ready to test: rosject multirobotboxbot