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The controller_manager defined in config/controllers.yaml has the namespace locked to ezrassor at the top of the file. This prevents multiple robots from spawning since the controller_manager is always going to spawn the service at a namespace of /ezrassor.

I tried to replace this value to /**: to see if it would take the namespace from the launch command, but that did not work.

I would recommend posting this question on the ros forum and asking for help since there might be a config parameter that is missing.

Affected files:

• launch/spawn_ezrassor.py
• config/controllers.yaml

Replicating the issue:

# Bring up the sim
ros2 launch ezrassor_sim_gazebo gazebo_launch.py
ros2 launch ezrassor_sim_description spawn_ezrassor.py robot_name:=ezrassor
ros2 launch ezrassor_sim_description spawn_ezrassor.py robot_name:=ezrassor2 x:=10

# Now that both robots are spawned...
ros2 topic pub /ezrassor/wheel_instructions geometry_msgs/msg/Twist "{linear: {x: 200.0, y: 0.0, z: 0.0}, angular: {x: 200.0, y: 0.0, z: 0.0}}"
ros2 topic pub /ezrassor2/wheel_instructions geometry_msgs/msg/Twist "{linear: {x: 200.0, y: 0.0, z: 0.0}, angular: {x: 200.0, y: 0.0, z: 0.0}}"

The workflow should run the xacro command to ensure that the urdf file even builds and should bring up the package to make sure that the controller_manager comes up correctly and accepts data passed through the source/*_driver nodes.