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There are two things to distinguish here: the simulations and the turtles. In your case, you run two simulations, each within its own namespace: /turtlesim1/sim and /turtlesim2/sim. Each simulation has one turtle: turtle1. It is also possible to have two turtles in one simulation, such as in the Parameters and services tutorial. Then you could have one sim with two turtles: turtle1 and turtle2.

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