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Hi In case you are still on this: Every launch file for every robot needs to get a namespace and a tf_prefix. So yes, you need to do this for all of the robots. You can sum up some launch files in one and then namespace them. An example and reference can be found here: multiple robots

Otherwise: check for every node with rosnode info NAME to which topics it subscribes and which it publishes, since the prefixes/namespaces have to be correctly resolved there.

good luck!