multiple ardrone spawn

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Hello.

Right now, I am using tumsimulator(Fuerte base simulation for ardrone) After I have modified some of them, I was able to spawn 2nd ardrone. I am also able to track the navigating from Rviz for both of ardrone. When I publish "takeoff" command to 1star, it works. However, it doesn't work when I publish to 2ndar/takeoff. 1star just takes the command(2nd_ar/takeoff) and takeoff forever. Does anyone know about this problem?

Main launch file

<?xml version="1.0"?>

<launch>

<arg name="gui" default="true"/> <arg name="model" value="$(find cvg_sim_gazebo)/urdf/quadrotor_sensors.urdf.xacro"/>

<node name="gazebo" pkg="gazebo" type="gazebo" args="$(find cvg_sim_gazebo)/worlds/3boxes_room.world" respawn="false" output="screen"/> <group if="$(arg gui)"> <node name="gazebo_gui" pkg="gazebo" type="gui" respawn="false" output="screen"/> </group>

<group ns="1st_ar"> <include file="$(find cvg_sim_gazebo)/launch/YGspawn0.launch" &gt;="" <arg="" name="tf_prefix" value="1st_ar"/> <arg name="model" value="$(arg model)"/> <arg name="init_pose" value="-x 0 -y -1 -z 0.5"/> <arg name="Quadname" value="1st_ar"/> </include> </group>

<group ns="2nd_ar"> <include file="$(find cvg_sim_gazebo)/launch/YGspawn0.launch" &gt;="" <arg="" name="tf_prefix" value="2nd_tf"/> <arg name="model" value="$(arg model)"/> <arg name="init_pose" value="-x 0 -y 1 -z 0.5"/> <arg name="Quadname" value="2nd_ar"/> </include> </group>

<node pkg="rviz" type="rviz" name="rviz" args="-d $(find cvg_sim_test)/rviz_cfg/outdoor_flight.vcg"/>

</launch>

spawnmodel launch file

<?xml version="1.0"?>

<launch>

<arg name="init_pose" default="pose"/> <arg name="Quadname" default="ardrone"/>

<arg name="model" default="$(find cvg_sim_gazebo)/urdf/quadrotor.urdf.xacro"/>

<node name="spawn_quad_model" pkg="gazebo" type="spawn_model" args="-param robot_description -urdf -unpause -$(arg init_pose) -model $(arg Quadname)" respawn="false"/>

<!-- start robot state publisher -->

<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher_$(arg Quadname)" output="screen" &gt;="" <param="" name="publish_frequency" type="double" value="30.0"/> </node>

<node name="ground_truth_to_tf_$(arg Quadname)" pkg="message_to_tf" type="message_to_tf" output="screen"> </node>

</launch>