Can I run two gazebo_ros_control plugins in one simulation?

I run a simulation into which I spawn a robot with gazebo_ros_control plugin called simply "gazebo_ros_control". This loads all successfully. Then there is a model inside the world which has gazebo_ros_control plugin. This one only starts the joint_states topic, but not the command, pid and state topic for each joint individually. plugin of the model inside the world: transmission_interface/SimpleTransmissionhardware_interface/VelocityJointInterfacehardware_interface/VelocityJointInterface1/testbenchgazebo_ros_control/DefaultRobotHWSimtrue control yaml testbench: joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 50 arm_base_joint1_controller: type: velocity_controllers/JointVelocityController joint: arm_base_joint1 pid: {p: 10.0, i: 0.1, d: 0.01} control launch file: launch file I launch this launch file after the simulation is all loaded. I want to use the `/testbench/arm_base_joint1_controller/command` topic to control the robotic arm joint. Is it possible? What am I doing wrong?