Spawning multiple robots with diff_drive_controller

**Target:** I am trying to spawn multiple robots in Gazebo and also using ros_control, for this I group each one like in the launch files bellow. **Problem(s):** No odometry, tf points to only one robot: base_link, no control on the joints and one_robot.launch looks like So everything works if i have just one robot and no grouping. I can get the odometry and the controller can control the joints. After I add the groups the odom frame is no longer published. The cmd_vel is but does not work. Also the topic looks like `/robot1/robot1/diff_drive_controller/cmd_vel,` so adding at the namespace the name of the model too. I would like to see the robots in gazebo and rviz. I also get these errors [ERROR] [1497949872.152710755, 0.048000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/list_controllers] [ERROR] [1497949872.154815513, 0.048000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/list_controller_types] [ERROR] [1497949872.154982735, 0.048000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/load_controller] [ERROR] [1497949872.155112475, 0.048000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/unload_controller] [ERROR] [1497949872.155239819, 0.048000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/switch_controller] [ERROR] [1497949872.155365523, 0.048000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/reload_controller_libraries]