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The tf_prefix is the recommended way of using multiple robots. This will allow you to use the same URDFs (or at least it should), since the prefix will turn things into r1/odom and r2/odom automatically depending on which robot you are on.

See Coordinate Frame Conventions: Naming, the TF FAQ and the mailing list archive for more info on tf_prefix. I've never used it personally, but it should help you split up things across robots without manually changing all of the frame names.

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