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If you use the urdf_spawn. you can use this <group ns="robot1"> <include file="$(find px4)/launch/urdf_spawn.launch"> <arg name="x" default="4"/> <arg name="y" default="0.0"/> <arg name="z" default="0.0"/> <arg name="urdf_robot_file" default="$(find px4)/urdf/ar_tag.urdf"/> <arg name="robot_name" default="ar_tag"/> </include> </group>

<group ns="robot2">
    <include file="$(find px4)/launch/urdf_spawn.launch">
        <arg name="x" default="4.14" />
        <arg name="y" default="0.0" />
        <arg name="z" default="0.0" />
        <arg name="urdf_robot_file" default="$(find px4)/urdf/ar_tag_s.urdf" />
        <arg name="robot_name" default="ar_tag_s" />
    </include>
</group>

Besides, the urdf_spawn file like this <launch> <arg name="x" default="0.0"/> <arg name="y" default="0.0"/> <arg name="z" default="0.0"/> <arg name="urdf_robot_file" default="$(find px4)/urdf/ar_tag.urdf"/> <arg name="robot_name" default="ar_tag"/>

<!-- This Version was created due to some errors seen in the V1 that crashed GAzebo or went too slow in spawn -->
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description" command="cat $(arg urdf_robot_file)" />

<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -x $(arg x) -y $(arg y) -z $(arg z)  -model $(arg robot_name) -param robot_description"/>

</launch>

If you use the urdf_spawn. you can use this

<!-- AR_TAG Gazebo -->
<group ns="robot1">
     <include file="$(find px4)/launch/urdf_spawn.launch">
         <arg name="x" default="4"/>
    default="4" />
        <arg name="y" default="0.0"/>
    default="0.0" />
        <arg name="z" default="0.0"/>
    default="0.0" />
        <arg name="urdf_robot_file" default="$(find px4)/urdf/ar_tag.urdf"/>
    px4)/urdf/ar_tag.urdf" />
        <arg name="robot_name" default="ar_tag"/>
    default="ar_tag" />
    </include>
    </group>
 
</group>

<group ns="robot2">
    <include file="$(find px4)/launch/urdf_spawn.launch">
        <arg name="x" default="4.14" />
        <arg name="y" default="0.0" />
        <arg name="z" default="0.0" />
        <arg name="urdf_robot_file" default="$(find px4)/urdf/ar_tag_s.urdf" />
        <arg name="robot_name" default="ar_tag_s" />
    </include>
</group>
 
Besides, the urdf_spawn file like this
this
 

<launch>
    <arg name="x" default="0.0"/>
    <arg name="y" default="0.0"/>
    <arg name="z" default="0.0"/>
    <arg name="urdf_robot_file" default="$(find px4)/urdf/ar_tag.urdf"/>
    <arg name="robot_name" default="ar_tag"/>
 
<!-- This Version was created due to some errors seen in the V1 that crashed GAzebo or went too slow in spawn -->
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description" command="cat $(arg urdf_robot_file)" />

<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -x $(arg x) -y $(arg y) -z $(arg z)  -model $(arg robot_name) -param robot_description"/>
 
</launch>