Troubles with ros_control

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Hello. I have two motors for a future robot and I want them to use the same RobotHW class. That motors have to run simultaneously. Also there are some code for only one motor. When I tried to implement the second one, a conflict error popped out. Here is the code :

void ROBOTHardwareInterface::init() {
 // Create joint state interface
 hardware_interface::JointStateHandle jointStateHandle("joint1", &joint_position_, &joint_velocity_, &joint_effort_);
 joint_state_interface_.registerHandle(jointStateHandle);

 // Create effort joint interface
 hardware_interface::JointHandle jointEffortHandle(jointStateHandle, &joint_effort_command_);
 effort_joint_interface_.registerHandle(jointEffortHandle);

 // Create Joint Limit interface
 joint_limits_interface::JointLimits limits;
 joint_limits_interface::getJointLimits("joint1", nh_, limits);
 joint_limits_interface::EffortJointSaturationHandle jointLimitsHandle(jointEffortHandle, limits);
 effortJointSaturationInterface.registerHandle(jointLimitsHandle);

 // Create joint state interface
 hardware_interface::JointStateHandle jointStateHandle2("joint2", &joint_position_2, &joint_velocity_2, &joint_effort_2);
 joint_state_interface_.registerHandle(jointStateHandle2);

 // Create Joint Limit interface
 hardware_interface::JointHandle jointEffortHandle2(jointStateHandle2, &joint_effort_command_2);
 effort_joint_interface_.registerHandle(jointEffortHandle2);

 // Create joint limit interface.
 joint_limits_interface::getJointLimits("joint2", nh_, limits);
 joint_limits_interface::EffortJointSaturationHandle jointLimitsHandle2(jointEffortHandle2, limits);
 effortJointSaturationInterface.registerHandle(jointLimitsHandle2);

 // Register all joints interfaces
    registerInterface(&joint_state_interface_);
    registerInterface(&position_joint_interface_);
    registerInterface(&effort_joint_interface_);
    registerInterface(&effortJointSaturationInterface);
 }

And here is the launchfile :

<node name="robot_hardware_interface" pkg="ros_control_example" type="single_joint_hardware_interface" output="screen"/>

<!--
<node name="driver" pkg="ros_control_example" type="driver_node" output="screen"/>
-->

<node name="subscriber_py" pkg="ros_control_example" type="joints_receive_from_arduino.py" output="screen"/>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />

<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
    args="
        /ROBOT/controller/velocity/joint1_velocity_controller
        /ROBOT/controller/velocity/joint2_velocity_controller
    "/>

That's controllers.yaml :

      ROBOT:
          # Publish all joint states -----------------------------------
          controller:
          type: joint_state_controller/JointStateController
          publish_rate: 50
          velocity:

         # Velocity Controllers ---------------------------------------
             joint1_velocity_controller:
                 type: effort_controllers/JointVelocityController
                 joint: joint1
                 pid: {p: 100.0, i: 100.0, d: 0.0, i_clamp_min: -255.0, i_clamp_max: 255, antiwindup: True}

         # Velocity Controllers ---------------------------------------
             joint2_velocity_controller:
                 type: effort_controllers/JointVelocityController
                 joint: joint1
                 pid: {p: 100.0, i: 100.0, d: 0.0, i_clamp_min: -255.0, i_clamp_max: 255, antiwindup: True}

What should I do?