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Having multiple robots on the same roscore is a real tricky challenge. I'd recommend looking into how to solve that problem before you look into solving the TF problem. Additionally, AMCL will only localize one robot - so you won't be able to use the same instance of that program with more than one entity you're trying to localize.

See this post for a good amount of information: https://answers.ros.org/question/41433/multiple-robots-simulation-and-navigation/?answer=41434?answer=41434#post-id-41434

Hope this helps!