multiple robots spawn issue

edit

Hi, I am studying ROS with Kuka Kr6r900sixx through this (https://github.com/SebNag/kuka_kr6r90...) and I also saw this Youtube Video : https://www.youtube.com/watch?v=IC33S...

when I started to spawn two kuka robot , there is two issues broke out.

first, I can't find my (namespace)/link 1,2,3,4 ...

I think this issue came from "robot_state_publisher" can not read tf

Second, 'Tried to advertise a service that is already advertised in this node [/controller_manager/reload_controller_libraries]' error occur when I start my start.launch

here is my source code, no audit just refer and use upload git link kuka sources

start.launch

<?xml version="1.0" encoding="UTF-8"?>

<launch>
  <arg name="paused" default="false"/>
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
  <arg name="world_name" value="worlds/empty.world"/>
  <arg name="gui" value="true" />
  <arg name="paused" value="$(arg paused)"/>
</include>

  <group ns="robot1">
    <param name="tf_prefix" value="robot1_tf" />
    <include file="$(find kr6r900sixx_dual)/launch/kr6r900sixx_robot.launch">
      <arg name="robot_name" value="robot1" />
      <arg name="x" value="0" /> <!-- -0.388079 -->
      <arg name="y" value="0" /> <!-- -2.716179 -->
      <arg name="z" value="0" /> <!-- 1.002342 -->
      <arg name="yaw" value="0" />  <!-- 2.581257 -->
    </include>
  </group>

  <group ns="robot2">
    <param name="tf_prefix" value="robot2_tf" />
    <include file="$(find kr6r900sixx_dual)/launch/kr6r900sixx_robot.launch">
      <arg name="robot_name" value="robot2" />
      <arg name="x" value="0" /> <!-- -0.388079 -->
      <arg name="y" value="3" /> <!-- -2.716179 -->
      <arg name="z" value="0" /> <!-- 1.002342 -->
      <arg name="yaw" value="0" />  <!-- 2.581257 -->
    </include>
  </group>
</launch>

kr6r900sixx_robot.launch

<?xml version="1.0" encoding="UTF-8"?>

<launch>

    <arg name="limited" default="false"  doc="If true, limits joint range [-PI, PI] on all joints." />
    <arg name = "robot_name" />
    <arg name = "x" default ="0.0" />
    <arg name = "y" default ="0.0" />
    <arg name = "z" default ="0.0" />
    <arg name = "roll" default ="0.0" />
    <arg name = "pitch" default ="0.0" />
    <arg name = "yaw" default ="0.0" />

    <!-- remap topics to conform to ROS-I specifications -->
    <remap from="$(arg robot_name)/arm_controller/follow_joint_trajectory" to="$(arg robot_name)/joint_trajectory_action" />
    <remap from="$(arg robot_name)/arm_controller/state" to="$(arg robot_name)/feedback_states" />
    <remap from="$(arg robot_name)/arm_controller/command" to="$(arg robot_name)/joint_path_command"/>
    <!-- urdf xml robot description loaded on the Parameter Server, converting the xacro into a proper urdf file-->
    <!-- include file="$(find kuka_kr6_gazebo)/launch/load_kr6r900sixx.launch" /-->
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_kr6_gazebo)/urdf/kuka_kr6r900sixx.xacro'" />

    <node name="spawn_gazebo_model" 
            pkg="gazebo_ros" 
            type="spawn_model" 
            respawn="false" 
            output="screen"
            args="
            -urdf 
            -param robot_description
            -model $(arg robot_name) 
            -x $(arg x) 
            -y $(arg y) 
            -z $(arg z) 
            -R $(arg roll) 
            -P $(arg pitch)
            -Y $(arg yaw) 
            " />

      <!-- convert joint states to TF transforms for rviz, etc -->
      <node name="robot_state_publisher" pkg ...