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I solved these problems with my own robots. Actually, there are two details you have to take care of. One is the topic name, and another one is TF frame_id.

To solve the same topic names confliction, you can use remap tag or add some prefix to topic name for each robot.

To solve the same TF frame_id confliction, you should check each node broadcast which TF translation. the In my case, my controller(driver) broadcasts the translation from "odom" to "base_footprint", so I add a prefix to frame_id before broadcasting. image description

By the way, some details you should know, you should check the frame_id in topic messages' header. Making sure every frame_id has been added prefix.