Copied model rudderboat not moving in Gazebo simulation

[Seko14]

Description: I am simulating a pursuit-evasion scenario with two USVs in Gazebo/UWSIM. To achieve this:

I duplicated and modified the boat-related code from rudderboat_scenario_2.launch and spawn_rudderboat.launch to create a second rudderboat.

When launching the new scenario, both rudderboats appear correctly in the UWSIM visualization window.

Problem: Only the original boat moves under navigation node control, while the newly added vessel remains static.

Observations: No errors appear in the logs.

rqt_graph shows no obvious misconfigurations (screenshot attached below).

Debugging Notes: Since multiple files were modified, I can’t included the all changes here. I modified a scenario launch file, a boat-spawn launch file, and I add a new xacro file and a test xml file.

Will gladly provide specific code snippets/logs/files upon request (e.g., launch files, URDF/SDF configurations, or xml files).

I'd be grateful for any guidance. Thanks!