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I believe the pr2 odometry mechanism controller is responsible for publishing the transform in question. You can also edit pr2 controller configuration for gazebo and disable the base_odometry controller from loading in pr2_default_controllers.launch.
similarly for pr2, just do the same for pr2 controller configuration
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Tully's way is quicker, but if you are curious where the transform comes from, I believe the pr2 odometry mechanism controller is responsible for publishing the transform in question. base_footprint-odom transform. You can also edit pr2 controller configuration for gazebo and disable the base_odometry controller from loading in pr2_default_controllers.launch.
similarly for pr2, just do the same for pr2 controller configuration.
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