How to give condition in xml file for showing different block in different pages

Okay, I got the solution. I call the .phtml page into .xml file, like this.

default.xml

    <referenceContainer name="footer">
        <container name="footer-custom" htmlTag="div" htmlClass="footer-custom">
            <block class="Magento\Framework\View\Element\Template" name="footer_upper" template="Magento_Theme::html/footer.phtml">                   
            </block>                
        </container>
    </referenceContainer>

and then in .phtml file I place the condition and fetch the block there, like this.

footer.phtml

<?php
    $objectManager = \Magento\Framework\App\ObjectManager::getInstance();
    $cmsPage = $objectManager->get('\Magento\Cms\Model\Page');
    $cmsIdent = $cmsPage->getIdentifier();
?>

<?php
    if ($cmsIdent == 'home') {

        echo $block->getLayout()
           ->createBlock('Magento\Cms\Block\Block')
           ->setBlockId('footer_links_block')
           ->toHtml();

    } else {

        echo $block->getLayout()
           ->createBlock('Magento\Cms\Block\Block')
           ->setBlockId('footer_links_block_for_others')
           ->toHtml();

    }
?>

It works perfect for me. Thank you.

If you have to show it only for home page, then more appropriate solution will be to show them via cms_index_index.xml. In that way, you can manage everything via XML too including containers if you have to add them in near future.