amcl not publishing map -> odom under different namespace

Hello, I'm attempting to setup a pair of turtlebots that can run simultaneously, and in order to do so, they need to run their nodes on different namespaces while both subscribing to a shared /map topic. I've essentially been trying to apply [this guide](http://answers.ros.org/question/41433/multiple-robots-simulation-and-navigation/) to real turtlebots. However, I've been facing [this issue](http://answers.ros.org/question/193435/amcl-not-publishing-map-odom/) where amcl is not publishing from map -> odom even though it has all of its necessary prerequisites. I've narrowed it down to being an issue of the namespace change since I am able to run essentially the same code with no issue when the topics don't have a namespace argument in front. I've been trying to figure out where the loose end is but have so far been unsuccessful. My launch files are below: **multi.launch** **multi_nav.launch** **amcl_multi.launch** after running multi.launch, rqt_tf_tree does not show the tf from map to robot1/odom. rosnode info /robot1/amcl shows the following: Node [/robot1/amcl] Publications: * /robot1/amcl/parameter_descriptions [dynamic_reconfigure/ConfigDescription] * /robot1/amcl/parameter_updates [dynamic_reconfigure/Config] * /robot1/amcl_pose [geometry_msgs/PoseWithCovarianceStamped] * /robot1/particlecloud [geometry_msgs/PoseArray] * /rosout [rosgraph_msgs/Log] * /tf [tf2_msgs/TFMessage] Subscriptions: * /map [nav_msgs/OccupancyGrid] * /robot1/base_scan [sensor_msgs/LaserScan] * /robot1/initialpose [unknown type] * /tf [tf2_msgs/TFMessage] * /tf_static [tf2_msgs/TFMessage] Services: * /robot1/amcl/get_loggers * /robot1/amcl/set_logger_level * /robot1/amcl/set_parameters * /robot1/global_localization * /robot1/request_nomotion_update * /robot1/set_map contacting node http://10.108.93.240:37641/ ... Pid: 29864 Connections: * topic: /rosout * to: /rosout * direction: outbound * transport: TCPROS * topic: /tf * to: /robot1/amcl * direction: outbound * transport: INTRAPROCESS * topic: /tf * to: /rqt_gui_py_node_30845 * direction: outbound * transport: TCPROS * topic: /tf * to: /robot1/amcl (http://10.108.93.240:37641/) * direction: inbound * transport: INTRAPROCESS * topic: /tf * to: /robot1/robot_state_publisher (http://10.108.93.240:42187/) * direction: inbound * transport: TCPROS * topic: /tf * to: /robot1/laser_link (http://10.108.93.240:33779/) * direction: inbound * transport: TCPROS * topic: /tf * to: /robot1/mobile_base_nodelet_manager (http://10.108.93.240:35872/) * direction: inbound * transport: TCPROS * topic: /tf_static * to: /robot1/robot_state_publisher (http://10.108.93.240:42187/) * direction: inbound * transport: TCPROS * topic: /robot1/base_scan * to: /robot1/urg_node (http://10.108.93.240:33308/) * direction: inbound * transport: TCPROS * topic: /map * to: /map_server (http://10.108.93.240:36556/) * direction: inbound * transport: TCPROS In case it helps, I'm using Ubuntu 16.04 on an NVIDIA Jetson TX2 with a Kobuki base and Hokuyo laser scanner. Any help or tips for how to get amcl to recognize the change in namespace would be greatly appreciated!