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If your are using a differential drive controller plugin for your robot then you can prevent Gazebo from publishing the odom transfrom by setting publishOdomTF to false

<gazebo>
    <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
        ...
        <publishOdomTF>false</publishOdomTF>
        ...
    </plugin>
</gazebo>

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