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You can set RGBD/StartAtOrigin=true so that each robot will assume they restart from the origin of their map. If you are using the same map for all robots, that could be indeed problematic. The service rabmap/initialpose could be called from a script after the robots have been bringup. Well, for convenience, I just updated rtabmap node to use a new parameter called initial_pose (also added in rtabmap.launch).

<arg name="initial_pose"  default=""/>  <!-- Format: "x y z roll pitch yaw" or "x y z qx qy qz qw". Default: see "rtabmap --params | grep RGBD/StartAtOrigin" -->