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This shouldn't be so difficult and wouldn't even require writing a custom TF broadcaster.

If you have a custom frame that is relative to tool0_controller, you have two options:

1. if it's a static frame (ie: does not include any dynamic rotation or translation): use static_transform_publisher. Something like this would add the frame you show in your edit:

   rosrun tf2_ros static_transform_publisher 0 2.0 0 0 0 0 1 tool0_controller drillingPin
   

   Two things to note:

   1. don't use uppercase characters in TF frame names (or any graph resource): see wiki/Names.
   2. ROS uses metres for distances, so the 2.0 you have there results in a Y-translation of 2 metres relative to tool0_controller. Most likely not what you intended.

2. add drillingPin as a link to your composite xacro/urdf (the one that combines the UR xacro with your end-effector) and use a fixed type joint to link the two together. The robot_state_publisher will then do all the hard work for you.

Which of the two options you choose doesn't really matter I believe. The static_transform_publisher would need to run all the time, so would result in an additional node, but seeing as it's a static TF frame, won't result in too much overhead.

I tried to add a new frame to tool0_controller and this is the code I am using but the problem here is that: the pose published by drillingPin frame is relative to the tool0_controller not to the base.

re: not relative to base: well, no. You specify it as a transform relative to tool0_controller, so it's exactly as you specified.

That doesn't mean you can't query TF for the transform between base and drillingPin though.