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multi robot exploration

i want to run two robots in rviz with explore node . i have able to run the exploration package but it worked only for one robot . how to make it work for two robots . here are the launch file and world file for one robot.

launch file

..............................................

define block model ( size [0.5 0.5 0.5]

gui_nose 0

)

define topurg ranger

(

sensor(

range [ 0.0 30.0 ]

fov 270.25

samples 1081

)

# generic model properties

color "black"

size [ 0.05 0.05 0.1 ]

)

define erratic position

(

#size [0.415 0.392 0.25]

size [0.35 0.35 0.25]

origin [-0.05 0 0 0]

gui_nose 1

drive "diff"

topurg(pose [ 0.050 0.000 0 0.000 ])

)

define floorplan model

(

# sombre, sensible, artistic

color "gray30"

# most maps will need a bounding box

boundary 1

gui_nose 0

gui_grid 0

gui_outline 0

gripper_return 0

fiducial_return 0

laser_return 1

)

set the resolution of the underlying raytrace model in meters

resolution 0.02

interval_sim 100 # simulation timestep in milliseconds

window ( size [ 745.000 448.000 ]

rotate [ 0.000 -1.560 ]

scale 28.806

)

load an environment bitmap

floorplan

(

name "maze"

bitmap "maze.png"

size [54.0 58.7 0.5]

pose [ -29.350 27.000 0 90.000 ]

)

throw in a robot

erratic( pose [ -11.277 23.266 0 180.000 ] name "era" color "blue")

block( pose [ -13.924 25.020 0 180.000 ] color "red")

.......................................

world file

............................................. <launch> <master auto="start"/> <node pkg="stage" type="stageros" name="stage" args="$(find bosch_worlds)/maze.world" respawn="false" output="screen"/> <node pkg="tf" type="static_transform_publisher" name="fake_localize" args="0 0 0 0 0 0 map odom 10"/> <include file="$(find explore_stage)/move.xml"/> <include file="$(find explore_stage)/explore.xml"/> </launch> .............................................