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Multiple robots with multiple robot_descriptions and ros controllers?

Does anyone have a basic example of multiple robots each with a unique robot description and set of ros_control controllers, being loaded from a ros launch file and running alongside each other?

I've run into some problems trying to accomplish that described partially here http://answers.ros.org/question/198929/running-controller_manager-spawner-with-mybotrobot_description/ , it seems like I can't launch a controller for the second robot because robot_description lies within a namespace- perhaps I'm forgetting to pass/remap a parameter for robot_description? (though it isn't clear how the gazebo would know I've done that on the controller loading end if it is on the other side of a service call)

Multiple robots with multiple robot_descriptions and ros controllers?

Does anyone have a basic example of multiple robots each with a unique robot description and set of ros_control controllers, being loaded from a ros launch file and running alongside each other?

I've run into some problems trying to accomplish that described partially here http://answers.ros.org/question/198929/running-controller_manager-spawner-with-mybotrobot_description/ , it seems like I can't launch a controller for the second robot because robot_description lies within a namespace- perhaps I'm forgetting to pass/remap a parameter for robot_description? (though it isn't clear how the gazebo would know I've done that on the controller loading end if it is on the other side of a service call)