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I found the answer from:

0.1 Fixing robot_state_publisher

As of this writing, the accepted solution to this problem is to build the latest version of the robot_state_publisher from source. However, that did not work for me as the real problem seems to be in the libpcre3 package is causing a bus error before the node even starts executing.

My workaround is to upgrade the libpcre3 package (and related -dev, -dbg, and libpcrecpp0 packages) with the .deb binaries from Utopic (Ubuntu 14.10).

cd ~/Downloads
sudo dpkg -i libpcre*8.35*.deb

After this, the robot_state_publisher should run fine (ie, the launch should report no crashes).