gazebo multi_robot

multirobot_laser_nav.launch

	<group ns="robot1">
        <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find myrobot_gazebo)/urdf/myrobot_with_rplidar.urdf.xacro' ns:=robot1" /> 
    	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 
   	    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
            <param name="publish_frequency" type="double" value="50.0" />
        </node>
        <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
            args="-urdf -model robot1 -param robot_description -x 0"/>   
    </group>

    <group ns="robot2">
        <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find myrobot_gazebo)/urdf/myrobot_with_rplidar.urdf.xacro' ns:=robot2" /> 
    	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 
   	    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
            <param name="publish_frequency" type="double" value="50.0" />
        </node>
        <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
            args="-urdf -model robot2 -param robot_description -x 2"/>   
    </group>

myrobot_body.urdf.xcro

<robotNamespace>/</robotNamespace>
修改为：
<robotNamespace></robotNamespace>

myrobot_teleop.py

pub = rospy.Publisher('/cmd_vel', Twist, queue_size=5)
修改为：
pub = rospy.Publisher('cmd_vel', Twist, queue_size=5)