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I just tried it myself with my robot. One thing you need are groups in launchfiles.
http://wiki.ros.org/roslaunch/XML/group
BTW. If you use robot namespace tags in your model plugins, remove them!
Otherwise your topics like for example cmd_vel will overlap.
You also need another parameter with a different name for the other robot because I found out they are named like the param in gazebo.
Put the same launch tags (except the parameter for the spawn and spawn position) for your robots in two tags,
For example:
<node name="spawn_test_bot" pkg="gazebo_ros" type="spawn_model" args="-z 0.1 -urdf -param robot_description -model robot_description" respawn="false" />
<node name="spawn_test_bot" pkg="gazebo_ros" type="spawn_model" args="-z 0.1 -x 1 -urdf -param robot_description2 -model robot_description2" respawn="false" />
That seems to work for me, but currently I just need one robot.