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Multiple laser message can be published but u have to make sure that they have different namespace. By default the topic name is for laser scan is "scan". You can prefix it with robot namespace like "/robot0/scan" and "/robot1/scan". Secondly for each laser scan the frame_id should be defined correctly w.r.t to respective robots. Gmapping most probably does not support laser scan from multiple sources so, if you want to build a map with multiple scan either you can write your own mapping algorithm or transform messages from one frame_id to other and then publish scan message on 1 single topic only.

Hope it helps..