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On the PR2 the GazeboRosControllerManager instantiates a ControllerManager, which publishes joint_states. joint_states is subscribed by robot_state_publisher to produce the tf tree for the robot.

You can do the same by publishing joint_states in your plugin and starting a robot_state_publisher separately to broadcast tf tree for you; or you can broadcast a tf tree of your robot directly in your plugin.

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