Cannot control 2x UR10 at once with ur_robot_driver

edit

I am using the Universal Robot Driver for ROS to control independently two UR10 robots (with their own teach pendant), and it works fine.

However, I have tried to control them both at the same time with a launch file derived from this thread, and the launch aborts when the terminal complains a port is already used.

I traced it back to PORT and RT_PORT being hard-coded in driver.py of fmauch's ur_driver package.

How are we supposed to control several arms at once if some ports cannot be changed?

Here is the launch file:

<?xml version="1.0"?>
<launch>

 <group ns="astro">
   <arg name="prefix" default="astro_" />
   <arg name="limited" default="false"/>
   <arg name="robot_ip" default="192.168.1.77"/>
   <arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml"/>
   <arg name="reverse_port" default="50001"/>
   <arg name="script_sender_port" default="50003"/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller"/>
  <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur10_controllers.yaml"/>
   <arg name="headless_mode" default="false"/>

  <include file="$(find ur_bringup)/launch/ur10_bringup.launch">
   <arg name="limited" value="$(arg limited)"/>
   <arg name="robot_ip" value="$(arg robot_ip)"/>
  </include>
</group>

<group ns="nono">
   <arg name="prefix" default="nono_" />
   <arg name="limited" default="false"/>
   <arg name="robot_ip" default="192.168.1.2"/>
   <arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml"/>
   <arg name="reverse_port" default="50002"/>
   <arg name="script_sender_port" default="50004"/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller"/>
  <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur10_controllers.yaml"/>
   <arg name="headless_mode" default="false"/>

  <include file="$(find ur_robot_driver)/launch/ur10_bringup.launch">
   <arg name="limited" value="$(arg limited)"/>
   <arg name="robot_ip" value="$(arg robot_ip)"/>
  </include>
</group>

</launch>

Edit: Found by gvdhoorn: $(find ur_robot_driver) instead of $(find ur_bringup). Updated above and the log file below as well.

And here is the log output:

... logging to /home/usr/.ros/log/392cb246-201c-11eb-964a-f8cab82aae2b/roslaunch-demetra-3401.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://demetra:45947/

SUMMARY
========

PARAMETERS
 * /astro/robot_description: <?xml version="1....
 * /astro/tf2_buffer_server/buffer_size: 120.0
 * /astro/ur_driver/max_payload: 20.0
 * /astro/ur_driver/max_velocity: 10.0
 * /astro/ur_driver/min_payload: 0.0
 * /astro/ur_driver/prefix: 
 * /nono/controller_stopper/consistent_controllers: ['joint_state_con...
 * /nono/force_torque_sensor_controller/publish_rate: 125
 * /nono/force_torque_sensor_controller/type: force_torque_sens...
 * /nono/hardware_control_loop/loop_hz: 125
 * /nono/hardware_interface/joints: ['shoulder_pan_jo...
 * /nono/joint_group_vel_controller/joints: ['shoulder_pan_jo...
 * /nono/joint_group_vel_controller/type: velocity_controll...
 * /nono/joint_state_controller/publish_rate: 125
 * /nono/joint_state_controller/type: joint_state_contr...
 * /nono/pos_joint_traj_controller/action_monitor_rate: 20
 * /nono/pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /nono/pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
 * /nono/pos_joint_traj_controller/constraints ...