I want to spawn swarm of robots in RVIZ from one URDF under different namespaces and individually control them. Currently I have transforms for different robots and joints states under unique namespaces. I also run robotdescription under different namespaces, but the content of URDF like its joints and links are not resolved under the namespaces. For example in RVIZ robot model is looking for rightwheel to baselink transform which actually do not exist, but the transform for rightwheel to robot01/baselink exists. Can anyone link or guide for a cleaner way than the one here

Currently I am having multiple yaml files which are loaded under different namespaces using rosparam.uploadparams(). But it does not work for XML files.