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The tutorial does state that "A source that publishes the joint positions" is required by robot_state_publisher. I've also gotten "missing moveable joints transforms" when I launched robot_state_publisher without launching joint_state_publisher.
I don't quite understand why you would not want urdf to correlate to published joint states. The urdf describes the robot. Wouldn't you want to describe the robot completely (with all joints and links)?
I think the publishing frequency is just limited by your computing speed. The robot_state_publisher would take the latest states available anyway. (I'm using 20Hz, and my simple 2 wheel robot runs fine)
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