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The way I prefer is to use both namespaces and prefix. You have /robot1/tf and /robot2/tf topics published by the robot publisher, which then could be relayed onto the /tf topic. By that way, you can just use a single RViz to visualize both the robot, provided you have a common localization that provides you with the transforms from map to robot1/odom and /map to robot2/odom.
Of course, you have to figure out a way for sending goals from RViz and also you need to take care of handling of the prefix for the odom frame and the base_link frame by either having a xacro or using 2 different URDF's.
As said early, there could be just different ways.
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