Four ray sensors from different sources in a single robot

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Hi, I'm trying to implement multiple sensors from different sources in a single robot as in the picture below:

The sensors that I want to implement are marked in pink

For several days, I have been struggling with all possible libraries offering "ray sensors". After implementing one, and copying it to "second place", they both overwrite the same topics. For example here: Laser2 has an override for both / sensors / laser1 and / sensors / laser2. It's shown below, launch file:

And of course part of my code:

robot description, XACRO file:

And my_robot.gazebo file, most important (with plugin):

Thank You! :)