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I was able to solve the problem by removing _ in the ip address and ip_address as param

<launch>

  <group ns="left">
    <node name="urg_node" pkg="urg_node" type="urg_node" output="screen">
      <param name="ip_address" value="192.168.0.9"/>

      <!-- <param name="serial_port" value="/dev/ttyACM0"/>
      <param name="serial_baud" value="115200"/> -->
      <param name="frame_id" value="laser"/>
      <param name="calibrate_time" value="false"/>
      <param name="publish_intensity" value="true"/>
      <param name="publish_multiecho" value="false"/>
      <param name="angle_min" value="-1.5707963"/>
      <param name="angle_max" value="1.5707963"/>
      <!-- <remap from="scan" to="front_scan"/> -->
    </node>
  </group>

  <group ns="right">
    <node name="urg_node" pkg="urg_node" type="urg_node" output="screen">
      <param name="ip_address" value="192.168.0.10"/>
      <!-- <param name="serial_port" value="/dev/ttyACM1"/>
      <param name="serial_baud" value="115200"/> -->
      <param name="frame_id" value="laser"/>
      <param name="calibrate_time" value="false"/>
      <param name="publish_intensity" value="true"/>
      <param name="publish_multiecho" value="false"/>
      <param name="angle_min" value="-1.5707963"/>
      <param name="angle_max" value="1.5707963"/>
      <!-- <remap from="scan" to="rare_scan"/> -->
    </node>
  </group>

</launch>