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I've found the problem, I had to get the "locked" planning scene from a planning scene monitor to correctly initialize my robot state. Now, everything works.

Here's the relevant code :

planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_ptr =
    std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
planning_scene_monitor_ptr->requestPlanningSceneState();
planning_scene_monitor::LockedPlanningSceneRO lps(planning_scene_monitor_ptr);
robot_state::RobotState robot_state(lps->getCurrentState());