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I just started with tf today and this tf tutorial helped me understand it and I would guess you need exactly that

All you need to do is create a link between every robot and the world frame

tf::TransformBroadcaster br;
tf::Transform transform;
transform.setOrigin( tf::Vector3(x,y,z)); // position in respect to the world frame
transform.setRotation( tf::Quaternion(x,y,z,w) ); // orientation in respect to the world frame
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", "robot_n"));

This assumes you can somehow get an absolute pose from any robot in respect to the world frame. If you only get relative measurements between the robots, you do not need a world frame and create the transform broadcaster between robot_n and robot_m.