If you really need the 2nd router as a router you need to configure a static routing on the 1st router for the 2nd router LAN subnet.
Otherwise you can put all your devices on the same LAN as advised above, for that you can probably configure the 2nd router per "dumb AP" guidelines.
root@modem:~# ip route list
default via 100.64.0.1 dev pppoe-wan
100.64.0.1 dev pppoe-wan scope link src 100.64.12.74
192.168.1.0/24 via 192.168.2.100 dev br-lan
192.168.2.0/24 dev br-lan scope link src 192.168.2.1
secondary router
root@router-sinan:~# ip route list
default via 192.168.2.1 dev wan src 192.168.2.100
192.168.1.0/24 dev br-lan scope link src 192.168.1.1
192.168.2.0/24 dev wan scope link src 192.168.2.100
Pinging 192.168.1.4 with 32 bytes of data:
Reply from 192.168.2.100: Destination port unreachable.
Reply from 192.168.2.100: Destination port unreachable.
Reply from 192.168.2.100: Destination port unreachable.
Reply from 192.168.2.100: Destination port unreachable.
My understanding this is the result of disabling the firewall. Bring it back, check if you have forwarding properly configured between the zones, no need to use NAT.
If your second router is connected to your first router, I would create an static route from the primary to the secondary (pointing at the WAN IP of the secondary), and in the secondary's Firewall, disable Masquerading for the WAN, and accept input from WAN to LAN. That should allow one to ping the other (both ways).