How to move two robots using move base without map?

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This is related to this question, but i want to know how should tf tree and move base files look like if i dont need to have map?

Without map, my tf tree is unconnected so i have husky1/odom -> husky1/base_link/ -> ..., and other tree husky2/odom -> husky2/base_link -> ...

When i try to publish this

rostopic pub /husky2/move_base_simple/goal geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "/husky2_tf/odom"}, pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}'

i dont know what frame_id should be. Whatever i put, the robot never goes to its goal, it starts moving but never stops.