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The output of rosrun tf tf_echo robot1_tf/base_footprint robot2_tf/base_footprint seems totally fine to me. When you echo the transform between robot1_tf/base_footprint and map you get the distance and orientation of the frame base_frontprint FROM the frame map, same with robot2_tf/base_footprint. So if we look at the different data you gave (with rough approximation) :
rosrun tf tf_echo map robot1_tf/base_footprint tells you that the base_footprint frame of robot_1 is at a distance of 1.5 meters on the x-axis and is rotated by 150° around the z-axis (in relation to the map frame orientation).
rosrun tf tf_echo map robot2_tf/base_footprint tells you that the base_footprint frame of robot_2 is at a distance of 2.6 meters on the x-axis and is rotated by 150° around the z-axis (in relation to the map frame orientation).
So given that you can estimate that robot1/base_footprint and robot2/base_footprint are at a distance of 1.1 meter to each other and have almsot the same orientation which is exactly what rosrun tf tf_echo robot1_tf/base_footprint robot2_tf/base_footprint tells you. This command tells you the distance and orientation of the frame robot2_tf/base_frontprint FROM the frame robot1_tf/base_frontprint.
About your error message is there a typo ? There is the frame robot4_tf/base_footprint but you are talking about 2 robots since the beginning so you might not have given all the informations.
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