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"The package subscribes to cmd_vel and publishes odometry based on that"

From the wiki of diff drive controller:

Odometry is computed from the feedback from the hardware

that means the encoder feedback you have to be providing through the Hardware Interfaces of ROS Control. Not the cmd vel

"How can I enable TF when I use a real robot?"

Using the robot state publisher node. You can add this line to your hardware launch file to use it:

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />