steered_wheel_base_controller for multiple robots

[troysouthard10]

I am trying to simulate two kuka youbots in gazebo7 using ROS Kinetic. I am attempting to use the "steered_wheel_base_controller" for both youbots bases, but I am running into a tf issue that I have repeatedly tried and failed to resolve.

The arm and gripper controllers launch fine for both youbots, and the base_controller (steered wheel) launches fine for one youbot. But, when I launch the simulation, "odom" and "cmd_vel" get published when I need (robot_name)/cmd_vel and (robot_name)odom. Even when I try to remap those topics in base_controller.launch to (robot_name)/cmd_vel and (robot_name)/odom the remapping args seem to not work. I've tried many different iterations of remapping args and trying to set the parameters for cmd_vel and odom in my launch files to no avail.

Do I need to modify steered_wheel_base_controller.cpp to publish and subscribe to each youbots cmd_vel and odom topic? Meaning, do I need to make a steered_wheel_base_controller.cpp file for each separate youbot? this could force the controller to publish to robot_name/cmd_vel and robot_name/odom

Or is their a way of remapping the args that I am missing?

Any insight would help, thanks.