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I think you're on the right track, but you've misunderstood the XML syntax of launch files.

Try:

<launch>
  <node   name="FOO1"
          pkg="foo_pkg"
          type="foo_node"
          args="1 192.168.100.10"
          output="screen"/>
  <node   name="FOO2"
          pkg="foo_pkg"
          type="foo_node"
          args="2 192.168.100.20"
          output="screen"/>
</launch>

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