diff --git a/nav2_bringup/bringup/launch/multi_tb3_simulation_launch.py b/nav2_bringup/bringup/launch/multi_tb3_simulation_launch.py
index dd13fae8bbd..bad21ce1240 100644
--- a/nav2_bringup/bringup/launch/multi_tb3_simulation_launch.py
+++ b/nav2_bringup/bringup/launch/multi_tb3_simulation_launch.py
@@ -102,7 +102,8 @@ def generate_launch_description():
 
     # Start Gazebo with plugin providing the robot spawing service
     start_gazebo_cmd = ExecuteProcess(
-        cmd=[simulator, '--verbose', '-s', 'libgazebo_ros_factory.so', world],
+        cmd=[simulator, '--verbose', '-s', 'libgazebo_ros_init.so',
+                                     '-s', 'libgazebo_ros_factory.so', world],
         output='screen')
 
     # Define commands for spawing the robots into Gazebo
diff --git a/nav2_bringup/bringup/launch/tb3_simulation_launch.py b/nav2_bringup/bringup/launch/tb3_simulation_launch.py
index 5fad6db3f8a..675b6056980 100644
--- a/nav2_bringup/bringup/launch/tb3_simulation_launch.py
+++ b/nav2_bringup/bringup/launch/tb3_simulation_launch.py
@@ -131,7 +131,7 @@ def generate_launch_description():
     # Specify the actions
     start_gazebo_server_cmd = ExecuteProcess(
         condition=IfCondition(use_simulator),
-        cmd=['gzserver', '-s', 'libgazebo_ros_init.so', world],
+        cmd=['gzserver', '-s', 'libgazebo_ros_init.so',  '-s', 'libgazebo_ros_factory.so', world],
         cwd=[launch_dir], output='screen')
 
     start_gazebo_client_cmd = ExecuteProcess(
diff --git a/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml
index 2c0d414abd9..f90053c032c 100644
--- a/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml
+++ b/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml
@@ -59,6 +59,10 @@ bt_navigator:
     # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
     # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
+    # if enable_groot_monitoring is set to True, ports need to be different for each robot !!
+    enable_groot_monitoring: False
+    groot_zmq_publisher_port: 1666
+    groot_zmq_server_port: 1667
     plugin_lib_names:
     - nav2_compute_path_to_pose_action_bt_node
     - nav2_compute_path_through_poses_action_bt_node
diff --git a/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml
index 9f671b246a3..dfb6ab4520c 100644
--- a/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml
+++ b/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml
@@ -59,6 +59,10 @@ bt_navigator:
     # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
     # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
+    # if enable_groot_monitoring is set to True, ports need to be different for each robot !!
+    enable_groot_monitoring: False
+    groot_zmq_publisher_port: 1789
+    groot_zmq_server_port: 1887
     plugin_lib_names:
     - nav2_compute_path_to_pose_action_bt_node
     - nav2_compute_path_through_poses_action_bt_node
diff --git a/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py b/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py
index 9f4daaf196c..f8f79f61b0c 100644
--- a/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py
+++ b/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py
@@ -37,7 +37,8 @@ def main():
     parser.add_argument('-z', type=float, default=0,
                         help='the z component of the initial position [meters]')
     parser.add_argument('-k', '--timeout', type=float, default=10.0,
-                        help="Seconds to wait. Block until the future is complete if negative. Don't wait if 0.")
+                        help="Seconds to wait. Block until the future is complete if negative. \
+                            Don't wait if 0.")
 
     group = parser.add_mutually_exclusive_group(required=True)
     group.add_argument('-t', '--turtlebot_type', type=str,