1- https://scholar.google.com/scholar?q=multi+robot+ros+github&hl=en&as_sdt=0&as_vis=1&oi=scholart

2- https://github.com/ferherranz/multi_robot

Dear Dinesh Elayaperumal,

I suggest you to see links and attached files on topic.

https://www.springer.com/gp/book/9783319549262

https://books.google.dz/books/about/Software_Architectures_for_Humanoid_Robo.html?id=vElyDwAAQBAJ&redir_esc=y

https://link.springer.com/book/10.1007/978-3-319-18299-5

https://towardsdatascience.com/what-why-and-how-of-ros-b2f5ea8be0f3

https://www.amazon.fr/ROS-Robotics-Projects-Operating-learning-ebook/dp/B07ZRWFPHF

Best regards

What do you mean by best? If you want to import it, you can do it in gazebo.