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The libgazebo_ros_p3d plugin as used here provides ground truth pose information as a nav_msgs/Odometry message. That topic could be fed into message_to_tf or a robot_localization node to generate the appropriate tf data.

Another related approach is using the ground truth information as odometry and then just adding a static publisher that publishes a additional identity map->odom transform. This is for instance done here: spawn_tracker_with_ground_truth.launch, publish_ground_truth_state.launch

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