Multirobot setup v2

[tenny-yinyijun]

Hi! Thank you so much for the detailed feedback from the last pr, it has been very helpful! This version includes all changes except the remapping, for future changes if you think it's easier we'll be happy to meet over zoom! Thanks in advance:)

[hello-binit]

Hey @tenny-yinyijun, the changes in this revision look great! You can actually make these changes on top of your previous PR, so you don't have to open a new PR per revision. Then, Github will keep track of our revisions and design discussions in one place.

To add these changes to your previous PR, copy them over onto your fork, tenny-yinyijun/stretch_ros, on the noetic branch. When you commit and push them, the previous PR will automatically update.

[tenny-yinyijun]

Thanks @hello-binit! I just copied the this fork onto noetic

[hello-binit]

Thanks, closing this one.