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You can launch them in different namespaces. this will make it like name_space/topic. Following is a small example.

<launch>
  <group ns="jackal1">
    <node name="velocity_controller" pkg="my_package type="my_node"/>
  </group>
  <group ns="jackal2">
    <node name="velocity_controller" pkg="my_package" type="my_node"/>
  </group>
</launch>

Just bundle your nodes together in namespaces. Or you can use include tag to include launch files within it. Hope this answers your question.

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