Two Controllers in one `yaml` with different update rate

[ghost]

I'm working with mobile manipulator platform. The base is controlled with slower rate (i.e. 50Hz) and the manipulator runs at a higher rate (i.e. 500Hz). I need to control them separately but I'm not able to combine them in one yaml. This is my file

husky_joint_publisher:
  type: "joint_state_controller/JointStateController"
  publish_rate: 50

husky_velocity_controller:
  type: "diff_drive_controller/DiffDriveController"
  left_wheel: ['front_left_wheel', 'rear_left_wheel']
  right_wheel: ['front_right_wheel', 'rear_right_wheel']
  publish_rate: 50
  pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
  twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
  cmd_vel_timeout: 0.25
  velocity_rolling_window_size: 2

  # Base frame_id
  base_frame_id: base_link

  # Odometry fused with IMU is published by robot_localization, so
  # no need to publish a TF based on encoders alone.
  enable_odom_tf: false

  # Wheel separation and radius multipliers
  wheel_separation_multiplier: 1.875 # default: 1.0
  wheel_radius_multiplier    : 1.0 # default: 1.0

  # Velocity and acceleration limits
  # Whenever a min_* is unspecified, default to -max_*
  linear:
    x:
      has_velocity_limits    : true
      max_velocity           : 1.0   # m/s
      has_acceleration_limits: true
      max_acceleration       : 3.0   # m/s^2
  angular:
    z:
      has_velocity_limits    : true
      max_velocity           : 2.0   # rad/s
      has_acceleration_limits: true
      max_acceleration       : 6.0   # rad/s^2


ur5:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 500 
  
  # Velocity Controllers ----------------------------
  joints_group_velocity_controller:
    type: velocity_controllers/JointGroupVelocityController
    joints:
       - shoulder_pan_joint
       - shoulder_lift_joint
       - elbow_joint
       - wrist_1_joint
       - wrist_2_joint
       - wrist_3_joint

The launch file I have so far covers the base (i.e. the top controller in the yaml file).

  <!-- Spawn controllers -->
  <node name="base_controller_spawner" pkg="controller_manager" type="spawner"
        args="husky_joint_publisher husky_velocity_controller"/>
  <rosparam param="wheel_radius_multiplier" ns="husky_velocity_controller" subst_value="True">
        $(optenv HUSKY_WHEEL_MULTIPLIER 1.0)
  </rosparam>

How can I modify my launch file to include the second controller with its namespace (i.e. ur5 in the yaml file) so it runs at 500Hz?

[rosamarco]

Hello, have you had a chance to resolve it?