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I think I've figured this one out. A lot of plugins accept a parameter for the tf frame. All I had to do was add the frameId tag. Like this:

<gazebo>
  <plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
    <robotNamespace>/husky1</robotNamespace>
    <updateRate>50.0</updateRate>
    <bodyName>base_link</bodyName>
    <frameId>husky1/base_link</frameId>
    <topicName>imu/data</topicName>
    <accelDrift>0.005 0.005 0.005</accelDrift>
    <accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
    <rateDrift>0.005 0.005 0.005 </rateDrift>
    <rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
    <headingDrift>0.005</headingDrift>
    <headingGaussianNoise>0.005</headingGaussianNoise>
  </plugin>
</gazebo>