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I think the problem is that gazebo is in an entirely different namespace than the rest of your nodes (particularly robot_state_publisher). Try setting them all to use the same namespace and see if that helps.

I think the problem is that gazebo is in an entirely different namespace than the rest of your nodes (particularly robot_state_publisher). Try setting them all to use the same namespace and see if that helps.

<link name="dummy_link" />

<link name="${name}_dummy_link" />

I think the problem is that gazebo is in an entirely different namespace than the rest of your nodes (particularly robot_state_publisher). Try setting them all to use the same namespace and see if that helps.

EDIT: When I'm launching multiple objects at the same time, I like to use xacro to define the objects that I want to create. So instead of the urdf containing link names, I can parameterize all of the link names so that I can launch as many as I want simultaneously. For example, instead of using:

<link name="dummy_link" />

I would use:

<link name="${name}_dummy_link" />

so that to add a new object, I just need to pass it a unique "name" variable.

Xacro might be the solution you're looking for. If it isn't, I might be interpreting your problem incorrectly and I can amend my answer.