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It seems I made a simple mistake, I couldnt find the joint state publisher for foxy for some reason but after following an example of how to use it here , it seems I wasn confusing ROS1 xml with ros2 python. I made a small revision to the joint_state_publisher node and it launches properly and the robot_state_publisher node listents to it without issue:

#!/usr/bin/env python3

import os
import sys

from ament_index_python.packages import get_package_share_directory

import launch
import launch_ros.actions


def generate_launch_description():
    # Load the URDF into a parameter
    bringup_dir = get_package_share_directory('urdfpublisher')
    urdf_path = os.path.join(bringup_dir, 'urdf', 'doggo.urdf')
    urdf = open(urdf_path).read()

    return launch.LaunchDescription([
        launch_ros.actions.Node(
            name='robot_state_publisher',
            package='robot_state_publisher',
            executable='robot_state_publisher',
            parameters=[{'robot_description': urdf}],
        ),
        launch_ros.actions.Node(
            package='joint_state_publisher',
            executable='joint_state_publisher',
            arguments=(urdf_path),
        ),
    ])


def main(argv=sys.argv[1:]):
    rospy.init_node('joint_state_publisher_gui')
    """Run lifecycle nodes via launch."""
    ld = generate_launch_description()
    ls = launch.LaunchService(argv=argv)
    ls.include_launch_description(ld)
    return ls.run()


if __name__ == '__main__':
    main()

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [30524]
[INFO] [joint_state_publisher-2]: process started with pid [30526]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link body_link had 0 children
[robot_state_publisher-1] [INFO] [1595439722.097627686] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1595439722.097767815] [robot_state_publisher]: got segment body_link