ROS two different nodes in the same package

edit

Hello. My package name is tum_ardrone. Inside the src file I have Autopilot,StateEstimation and UINode. I Created Autopilot2,StateEstimation2 and UINode2 to run two robots.

When I run the launch file:

<launch>
<group ns="controlo_drone1">
<node name="drone_stateestimation" pkg="tum_ardrone" type="drone_stateestimation">
</node>
<node name="drone_autopilot" pkg="tum_ardrone" type="drone_autopilot">
</node>
<node name="drone_gui" pkg="tum_ardrone" type="drone_gui">
</node>
</group>

<group ns="controlo_drone2">
<node name="drone_stateestimation2" pkg="tum_ardrone" type="drone_stateestimation">
</node>
<node name="drone_autopilot2" pkg="tum_ardrone" type="drone_autopilot">
</node>
<node name="drone_gui2" pkg="tum_ardrone" type="drone_gui">
</node>
</group>
</launch>

I want to run Autopilot,StateEstimation and UINode and Autopilot2,StateEstimation2 and UINode2.

But when I run the launch file it runs two instances of Autopilot,StateEstimation and UINode and not my Autopilot2,StateEstimation2 and UINode2.

Basically I copy-paste the folders inside src ( Autopilot,StateEstimation and UINode ) and changed the code in each one to read /drone1/image_raw and /drone2_image_raw in ( Autopilot2,StateEstimation2 and UINode2 ).

The problem is that when I run roslaunch it only starts 2 instances of the nodes Autopilot,StateEstimation and UINode and not Autopilot,StateEstimation and UINode and Autopilot2,StateEstimation2 and UINode2

Any idea? Please help me.

Edit: Maybe I have to mess with CMakeLists.txt? But what can I do?

    #
# Author: Jakob Engel <jajuengel@gmail.com>
# Contributor: Stefan Wilkes <stefan.wilkes@gmail.com>
#
cmake_minimum_required(VERSION 2.8.3)
project(tum_ardrone)

## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
  ardrone_autonomy
  cv_bridge
  dynamic_reconfigure
  geometry_msgs
  sensor_msgs
  std_msgs
  std_srvs
  message_generation
  roscpp
  rospy
)

# Compile third party libs
include(ExternalProject)
ExternalProject_Add(thirdparty
    URL ${PROJECT_SOURCE_DIR}/thirdparty/thirdparty.tar.gz
    PREFIX ${CMAKE_BINARY_DIR}/thirdparty
    CONFIGURE_COMMAND ""
    BUILD_COMMAND make
    INSTALL_COMMAND ""
    BUILD_IN_SOURCE 1
)

# ------------------- add dynamic reconfigure api ------------------------------------
generate_dynamic_reconfigure_options(
  cfg/AutopilotParams.cfg
  cfg/GUIParams.cfg
  cfg/StateestimationParams.cfg
)

################################################
## Declare ROS messages, services and actions ##
################################################

## Generate messages in the 'msg' folder
add_message_files(FILES filter_state.msg)

## Generate services in the 'srv' folder
add_service_files(
    DIRECTORY srv
    FILES
    SetReference.srv
    SetMaxControl.srv
    SetInitialReachDistance.srv
    SetStayWithinDistance.srv
    SetStayTime.srv
)

## Generate added messages 
generate_messages(DEPENDENCIES std_msgs)

###################################
## catkin specific configuration ##
###################################
catkin_package(CATKIN_DEPENDS message_runtime std_msgs ardrone_autonomy)

###########
## Build ##
###########
include_directories(${catkin_INCLUDE_DIRS})

# --------------------------- stateestimation & PTAM --------------------------------
# set header ans source files
set(STATEESTIMATION_SOURCE_FILES       
    src/stateestimation/GLWindow2.cc
    src/stateestimation/GLWindowMenu.cc  
    src/stateestimation/main_stateestimation.cpp
    src/stateestimation/DroneKalmanFilter.cpp
    src/stateestimation/Predictor.cpp
  src/stateestimation/PTAMWrapper.cpp
  src/stateestimation/MapView.cpp
  src/stateestimation/EstimationNode.cpp
  src/stateestimation/PTAM/ATANCamera.cc
  src/stateestimation/PTAM/Bundle.cc
  src/stateestimation/PTAM/HomographyInit.cc
  src/stateestimation/PTAM/KeyFrame.cc
  src/stateestimation/PTAM/Map.cc
  src/stateestimation/PTAM/MapMaker.cc
  src/stateestimation/PTAM/MapPoint.cc
  src/stateestimation/PTAM/MiniPatch.cc
  src/stateestimation/PTAM/PatchFinder.cc
  src/stateestimation/PTAM/Relocaliser.cc
  src/stateestimation/PTAM/ShiTomasi.cc
  src/stateestimation/PTAM/SmallBlurryImage.cc
  src/stateestimation/PTAM/Tracker.cc
)
set(STATEESTIMATION_HEADER_FILES    
  src/stateestimation/GLWindow2.h 
  src/stateestimation/GLWindowMenu.h    
  src/stateestimation/MouseKeyHandler.h  
  src/HelperFunctions.h   
  src/stateestimation/DroneKalmanFilter.h        
  src/stateestimation/Predictor.h 
  src/stateestimation/PTAMWrapper.h
  src/stateestimation/MapView.h
  src/stateestimation/EstimationNode.h
  src/stateestimation/PTAM/ATANCamera.h
  src/stateestimation/PTAM/Bundle.h
  src/stateestimation/PTAM/customFixes.h
  src/stateestimation/PTAM/HomographyInit.h
  src/stateestimation/PTAM ...