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I don't know if you have already tried to do that, but I had a similar problem and I've just added a fixed transform in the launch file between the world frames of the two robots.
<node pkg="tf" type="static_transform_publisher" name="world_frames_connection" args="0 0 0 0 0 0 /turtlebot1/world /turtlebot2/world 100"/>
Then I obtained a single tree with two branches, one per robot.
Hope this helps