def generate_launch_description():
name1 = 'fishbot1'
name2 = 'fishbot2'
package_name = 'fishbot_description'
urdf_name = "fishbot_gazebo.urdf"

ld = LaunchDescription()
pkg_share = FindPackageShare(package=package_name).find(package_name) 
urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')
gazebo_world_path = os.path.join(pkg_share, 'world/fishbot.world')

# Start Gazebo server
start_gazebo_cmd =  ExecuteProcess(
    cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so',gazebo_world_path],
    output='screen')

# Launch the robot1
spawn_entity_cmd1 = Node(
    package='gazebo_ros', 
    executable='spawn_entity.py',
    # namespace='robot1',
    arguments=[
        '-entity', name1,  
        '-file', urdf_model_path,
        '-robot_namespace', name1,
        ], 
    output='screen'
)

# Start Robot1 State publisher
start_robot_state_publisher_cmd1 = Node(
    package='robot_state_publisher',
    executable='robot_state_publisher',
    namespace=name1,
    arguments=[urdf_model_path]
)

# Launch the robot2
spawn_entity_cmd2 = Node(
    package='gazebo_ros', 
    executable='spawn_entity.py',
    # namespace='robot2',
    arguments=[
        '-entity', name2,  
        '-file', urdf_model_path,
        '-robot_namespace', name2,
        '-x', '0.5' 
        ], 
    output='screen'
)

# Start Robot2 State publisher
start_robot_state_publisher_cmd2 = Node(
    package='robot_state_publisher',
    executable='robot_state_publisher',
    namespace=name2,
    arguments=[urdf_model_path]
)

# Launch RViz
start_rviz_cmd = Node(
    package='rviz2',
    executable='rviz2',
    name='rviz2',
    output='screen',
    # arguments=['-d', default_rviz_config_path]
    
    )


ld.add_action(start_gazebo_cmd)
ld.add_action(spawn_entity_cmd1)
ld.add_action(spawn_entity_cmd2)
ld.add_action(start_robot_state_publisher_cmd1)
ld.add_action(start_robot_state_publisher_cmd2)
ld.add_action(start_rviz_cmd)

return ld