<launch>
  <arg name="use_robot_name" />
  <arg name="use_robot_name_2" />
        <!--default="open_manipulator"-->

  <group ns="/robot_1">
  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find open_manipulator_gazebo)/config/open_manipulator_controller.yaml" command="load"
            ns="$(arg use_robot_name)"/>

   <!-- load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
  output="screen" ns="$(arg use_robot_name)" args="joint_state_controller
                                               joint1_position
                                               joint2_position
                                               joint3_position
                                               joint4_position
                                               gripper_position
                                               gripper_sub_position"/>

   <!-- Run gripper sub position publisher -->
  <node name="gripper_sub_publisher" pkg="open_manipulator_gazebo" type="gripper_sub_publisher" output="screen" ns="$(arg use_robot_name)"/>

  </group>

  <group ns="/robot_2">

   <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find open_manipulator_gazebo)/config/open_manipulator_controller.yaml" command="load"
            ns="$(arg use_robot_name_2)"/>

    <!-- load the controllers -->
  <node name="controller_spawner_2" pkg="controller_manager" type="spawner" respawn="false"
  output="screen" ns="$(arg use_robot_name_2)" args="joint_state_controller
                                               joint1_position
                                               joint2_position
                                               joint3_position
                                               joint4_position
                                               gripper_position
                                               gripper_sub_position"/>
  <!-- Run gripper sub position publisher -->
  <node name="gripper_sub_publisher_2" pkg="open_manipulator_gazebo" type="gripper_sub_publisher" output="screen" ns="$(arg use_robot_name_2)"/>

  </group>


</launch>