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ROS2 Simulink to Gazebo (VMWare) - simulating multiple turtlebots

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This question was flagged by Cam Salzberger
Hi, I am using ROS2 in simulink to work on a consensus algorithm between 2 robots.
My question is : how do i simulate multiple robots in the Gazebo Empty World? When i run the virtual machine and open the empty world, it automatically generates one turtlebot, how do I add or simulate additional turtlebots to be connected to my ros2 code?
As seen in image attached, I am attempting to subscribe from two different topics for two different robots.
Thank you!

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