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I solved this problem by running two different launch files for each one alone and it worked. But I made sure that one of them had a different name space.

I faced later a problem when using the topics that gazebo publish for example the topic /ground_truth/state that gives me the information about only one robot and I want the information for both.

So, I didn't know which topic to use for getting the information of the position and velocity with time stamp for the second robot.