@anhdung88 I’m happy you have resolved! 🙂
I had the same problem some days ago. The error is due to the fact that the OpenOCD doesn’t accept the hla_serial in ASCII characters. The serial number must be specified in hexadecimal format. I summarized how I resolved the issue in the following post:
Just a note: I was using two plain St-Link V2 connected to two custom boards, not two Nucleo boards. Maybe there is a difference?