Wildlife Spotting

I am bit confused if the plants given here belong to Common Lantana(https://en.wikipedia.org/wiki/Lantana_camara)

or they are one of the species of Milkweeds ?

I have seen Ornithion swallow tail butterfly and Zebra longwing hovering around these flowers mostly. Have seen these flowers in White, Pink, Yellowish Orange and Red. Fruits are greenish in color and turn black when they ripe. Leaves and stem have thorns in it as in the pictures.

ID for the plant would be helpful.