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You probably want to have a setup that mimics a real robot. That means that the joint states that are input in the robot_state_publisher come from gazebo as that knows where the joints are. You will get /tf then as is a real robot from robot_state_publisher.

You only use the joint_state_publisher or other programs to send commands to gazebo or a controller in between that will then apply these actions in gazebo (which in turn will send out joint states that go into the robot_state_publisher producing /tf).