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Summarizing the comments: You need to make sure that the controllers run in different namespaces (or have different names), so that they can be addressed separately.

Looking at rostopic list after you start up the first robot, you can check where the topics for the controller action (often of type follow_joint_trajectory) appear. If you start up the second one, do they use a different topic? You can use either a different name or namespace the controller. The latter is usually simpler, but you need to connect whatever uses the controller's action to that topic, so you end up writing it out either way.