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The ROS_NAMESPACE seems appropriate if using a common master for both multiple robots. You will have to set up an NTP connection (http://www.ntp.org/) for having tf working on multiple computers. Otherwise you will have this tf old data in any case because the tf frames published on one computer and subscribed on another have wrong time stamps because there clock are not in sync.

If you have that I am still not sure if ROS_NAMESPACE does also affect the tf frames? Maybe check that and have a look at tf_remap (http://wiki.ros.org/tf).