Is there common way to run multiple robots in ROS2?

edit

The hard part is /tf since robot_state_publisher push all frame_ids into single topic.

EDIT: This is how I launch RobotStatePublisher:

robot_state_publisher = Node(
    package='robot_state_publisher',
    node_executable='robot_state_publisher',
    node_namespace=LaunchConfiguration(args.MODEL_NAME_ARG),
    output='screen',
    parameters=[{
        'use_sim_time': LaunchConfiguration(args.USE_SIM_TIME_ARG, default=True),
        'tf_prefix': 'ssss',
    }],
    arguments=[
        urdf,
        LaunchConfiguration(args.MODEL_NAME_ARG),
        '__log_level:=warn',
        'tf_prefix:=dddd',
    ],
)

tf_prefix is not set neither as parameter, nor as argument.

If you look into dashing branch of robot_state_publisher, you can see that tf_prefixis actually ignored: https://github.com/ros2/robot_state_p...