Problem with custom asv with many thruster

[vinz-uts]

Hi, I'm trying to use the uuv_simulator package to construct my own asv robot. I'm trying to add more then one thruster using a .xacro macro as in the examples. When I add only a thruster "all works fine", but when I add the second thruster an error are raised:

[ERROR] [1618837076.087532318]: Tried to advertise a service that is already advertised in this node [/asv/thrusters/0/set_thrust_force_efficiency]
[ERROR] [1618837076.095370714]: Tried to advertise a service that is already advertised in this node [/asv/thrusters/0/get_thrust_force_efficiency]
[ERROR] [1618837076.095499206]: Tried to advertise a service that is already advertised in this node [/asv/thrusters/0/set_dynamic_state_efficiency]
[ERROR] [1618837076.095561165]: Tried to advertise a service that is already advertised in this node [/asv/thrusters/0/get_dynamic_state_efficiency]
[ERROR] [1618837076.095632785]: Tried to advertise a service that is already advertised in this node [/asv/thrusters/0/set_thruster_state]
[ERROR] [1618837076.095701794]: Tried to advertise a service that is already advertised in this node [/asv/thrusters/0/get_thruster_state]
[ERROR] [1618837076.095770889]: Tried to advertise a service that is already advertised in this node [/asv/thrusters/0/get_thruster_conversion_fcn]

The stranger thing is that I've selected a thruster_id that start from 1, but it seems that the initialized node has {thruster_id}=0. Also when I configure only a thruster there is the same problem: names of advertised topics are with the prefix /asv/thrusters/0/ and not with my thruster_id. This is the code where call the macro:

<xacro:thruster_macro robot_namespace="${namespace}" thruster_id="1">
        <origin xyz="0.1761 0.1761 -0.35" rpy="1.5708 0 0.7854" />
    </xacro:thruster_macro>
    
    <!--xacro:thruster_macro robot_namespace="${namespace}" thruster_id="2">
        <origin xyz="0.1761 -0.1761 -0.35" rpy="0 1.5708 0.7854"/>
    </xacro:thruster_macro-->

Can someone help my to understand where is the problem? Thanks in advance.