Now I'm using a cartographer, the '/scan' topic is published when turtlebot3 burger is connected remotely. I'd like to change this to 'robot_1/scan'. I also tried '' in the launch file, but it didn't work, and I specified namespace, but it was useless.

This process was possible with namespace designation by starting with publishing '/scan' with another LiDAR. But it doesn't work as a turtlebot.

What kind of ways are there? Thank you in advance.

<group ns = "$(arg second_tb3)">
    <remap from="/scan" to="/robot2_scan"/>

    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model_tb).urdf.xacro" />

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher_2" output="screen">
        <param name="publish_frequency" type="double" value="50.0" />
        <param name="tf_prefix" value="$(arg second_tb3)" />
    </node>

    <!-- TurtleBot3 -->
    <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
        <arg name="model" value="$(arg model_tb)" />
    </include>

    <!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map -->
    <include file="$(find turtlebot3_slam)/launch/turtlebot3_$(arg slam_methods).launch">
        <arg name="model" value="$(arg model_tb)"/>
        <arg name="configuration_basename" value="$(arg configuration_basename)"/>
    </include>

</group>

In the picture below, I'm trying to make '/scan' and 'robot_2/scan' equal.

<remap from="/robot_2/scan" to="/scan"/>