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You won't win any awards for what I'm about to suggest, but it does provide a way :)
It's not clear what type of sensors you're intending, but... if you have a sensor suite that is based on the pose of each robot, then you could via the standard magic have multiple machines that subscribe to the odom or the simulation states of the robots that you need, perform the processing in their local environment (i.e. on that machine) and then publish so any node that needs to have sensor information from that machine can have it (since they're all connected to the same ROS master)..
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