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Use remapping method to map from tf to something like gazebo_tf, just add the remapping tags: <remap from="tf" to="gazebo_tf"/> in the launch file of the empty world.

For example:

<node name="gazebo" pkg="gazebo_ros" type="gzserver" respawn="false" output="screen" args="-e ode worlds/empty.world" > <remap from="tf" to="gazebo_tf"/> </node>

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