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Especially if you have limited robot time I would highly recommend you consider allowing testing with the hardware not in the loop using the simulation. For your use case with multiple teams

If you do want to continue to get 3 independent robots working with one master I recommend reading topics from the ROS MultiMaster SIG:

The most active multimaster implementation is the Robotics In Concert it's actively being developed. However the others implementations have proven useful for their designed use case.