To start with two robots call roslaunch multiple_robots_in_stage robots_in_stage.launch. This will set two
robots in the map.
To give them a goal you can call rostopic pub /robot_1/move_base_simple/goal geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "/map"}, pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}'
Alternatively, python scripts/patrol_organizer will set both robots to patrol simultaneously.