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You can use static_transform_publisher to add a common world frame as the parent frame of the both tf_prefix/world frames. In each robot group of your launch file, add:

<node name="world2robot" pkg="tf" type="static_transform_publisher" 
      args="0 0 0 0 0 0 /world /<your tf_prefix>/world 100" />

You can change the node name and the transformation between /world and your robot's world frame as you like.