How do I assign joint state publisher nodes to the correct namespaces?

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I am trying to have multiple turtlebots navigate on a shared map. I used template codes from The Construct live class #64 along with my own gazebo launch file that spawns the three turtlebots. When I launch my navigation file, I get the following error:

RLException: roslaunch file contains multiple nodes named [/robot_state_publisher].
Please check all <node> 'name' attributes to make sure they are unique.
Also check that $(anon id) use different ids.
The traceback for the exception was written to the log file

I thought I could avoid this error by specifying a "multi_robot_name" as an argument in the launch file, but I still got the error. Here is the navigation launch file I tried to run. I am using ROS Melodic. Many thanks if someone knows how to correct this!

<launch> 
  <!-- Arguments -->
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="open_rviz" default="true"/>
  <arg name="multi_robot_name" default=""/>
  <arg name="move_forward_only" default="false"/>

  <param name="/use_sim_time" value="true"/>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="/home/in/sandbox.yaml">
    <param name="frame_id" value="map" />
  </node>



 <!-- Properties of each robot      -->
<include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
    <arg name="multi_robot_name" value="robot1/" />
    <arg name="model" value="waffle_pi" />
  </include>
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
    <arg name="multi_robot_name" value="robot2/" />
    <arg name="model" value="waffle_pi" />
  </include>
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
    <arg name="multi_robot_name" value="robot3/" />
    <arg name="model" value="burger" />
  </include>

  <!-- AMCL      -->
    <include file="$(find MoveOneOfThree)/launch/amcl_robot1.launch"/>
    <include file="$(find MoveOneOfThree)/launch/amcl_robot2.launch"/>
    <include file="$(find MoveOneOfThree)/launch/amcl_robot3.launch"/>

<!-- MOVE_BASE-->
    <include file="$(find MoveOneOfThree)/launch/move_base_1.launch" />
    <include file="$(find MoveOneOfThree)/launch/move_base_2.launch" />
    <include file="$(find MoveOneOfThree)/launch/move_base_3.launch" />

Here is one of the three AMCL files:

<launch>

  <arg name="use_map_topic"   default="false"/>
  <arg name="scan_topic"      default="/robot1/scan"/>
  <arg name="initial_pose_x"  default="0.0"/>
  <arg name="initial_pose_y"  default="0.0"/>
  <arg name="initial_pose_a"  default="0.0"/>
  <arg name="odom_frame_id"   default="/robot1/odom"/>
  <arg name="base_frame_id"   default="/robot1/base_footprint"/>
  <arg name="global_frame_id" default="map"/>

  <node pkg="amcl" type="amcl" name="robot1_amcl">
    <param name="use_map_topic"             value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type"           value="diff"/>
    <param name="odom_alpha5"               value="0.1"/>
    <param name="gui_publish_rate"          value="10.0"/>
    <param name="laser_max_beams"             value="60"/>
    <param name="laser_max_range"           value="12.0"/>
    <param name="min_particles"             value="500"/>
    <param name="max_particles"             value="2000"/>
    <param name="kld_err"                   value="0.05"/>
    <param name="kld_z"                     value="0.99"/>
    <param name="odom_alpha1"               value="0.2"/>
    <param name="odom_alpha2"               value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3"               value="0.2 ...