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the only way I find to do that is with group:

<group ns="first_pelican">

   <node name="spawn_quad0" pkg="gazebo" type="spawn_model" args="-urdf -param quad_urdf -model quad0 -x 0 -y 0 -z 3" respawn="false" output="screen"/>

</group>

<group ns="second_pelican">

   <node name="spawn_quad1" pkg="gazebo" type="spawn_model" args="-urdf -param quad_urdf -model quad1 -x 1 -y 1 -z 3" respawn="false" output="screen"/>

</group>