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You should be able to do this by using remap as follows

<group ns="robot1">
  <node name="spawn_foxtrot_model" pkg="gazebo_ros" type="spawn_model"
    args="-x -1.9064 -y 0 -z 0 -urdf -param /robot_description -model robot1"
    respawn="false" output="screen" >
    <param name="tf_prefix" value="robot1_tf" />
    <remap from="cmd_vel" to="/robot1/cmd_vel" /> <!-- added -->
  </node>
</group>

See: http://wiki.ros.org/roslaunch/XML/remap