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No, TF is not necessary to do what you want. I tried your "last publisher" example (the first pastebin link), and here's what's necessary to get it running:

comment the include of "geometry_msgs/Twist.h" back in (it's commented out)
make sure that your manifest.xml contains the line <depend package="geometry_msgs"/>
make sure that your CMakeLists.txt contains something like this: rosbuild_add_executable(twist_publisher src/twist_publisher.cpp)

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