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I was able to resolve the parent conflict by stopping gazebo from publishing to 'tf' and remapping it to 'gazebo_tf'

In my empty_world.launch file:

<!-- start gazebo server-->
  <node name="gazebo" pkg="gazebo_ros" type="$(arg script_type)" respawn="false" output="screen"

    args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) -e $(arg physics) $(arg extra_gazebo_args) $(arg world_name)">
<remap from="tf" to="gazebo_tf"/> 
</node>