Gazebo as ROS node doesn't publish topics (odom, joint_states and tf) correctly

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Hi,

According to this remapping of gazebo topics is not yet possible.

Note that /odom, /joint_states and /tf are not published from gazebo. To publish /joint_states in your preferred namespace you can spawn the joint_state_controller from spawner node in controller_manager while changing the namespace as follows:

<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/robot1" args="joint_state_controller"
</node>

Also, remember to change the namespace in the plugin inside URDF/SDF file:

<gazebo>
  <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
   <robotNamespace>/robot1</robotNamespace>
  </plugin>
</gazebo>

To publish /tf you need the robot_state_publisher. Do remapping:

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen">
  <remap from="/joint_states" to="/robot1/joint_states" />
</node>

So, for the multiple robots you may want to repeat the above again.

You can also wanna try

<group ns="robot1"> include robot1 stuff here </group>

check this, too

Cheers!