AMCL + Robot_localization conflicts in TF with Gazebo

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I was trying to fuse AMCL pose with imu and odom in Gazebo for a classic mobile manipulator. The mobile manipulator has diff_drive_controller to publish odom topic (/robot_base_velocity_controller/odom)

My mobile manipulator does not define base_footprint, so I use base_link instead.

My knowledge to tf is that, map->odom->base_link->other links, AMCL will deal with map->odom part, and ekf_localization_node deal with the odom->base_link part, and robot_state_publisher deal with other links.

But roswtf would give off below error:

ERROR TF multiple authority contention:
 * node [/base_to_odom_ekf] publishing transform [base_link] with parent [odom] already published by node [/gazebo]
 * node [/gazebo] publishing transform [base_link] with parent [odom] already published by node [/base_to_odom_ekf]

Is there a way to turn off robot_state_publisher for a certain tf? Or I configured the tf wrong.

In main.launch file:

<node name="robot_state_publisher" pkg="robot_state_publisher" 
    type="robot_state_publisher" respawn="false" output="screen">
<node pkg="robot_localization" type="ekf_localization_node" name="base_to_odom_ekf">
    <remap from="odometry/filtered" to="odom" />
    <rosparam command="load" file="$(find postoffice_sim)/config/ekf/base_to_odom.yaml" />
</node>

base_to_odom.yaml:

frequency: 50
two_d_mode: true
odom0: /robot_base_velocity_controller/odom
odom0_config: [false, false, false,
               false, false, false,
                true,  true, false,
               false, false, true,
               false, false, false]

imu0: imu_data
imu0_config: [false, false, false,
              false, false, true,
              false, false, false,
              false, false,  true,
              false, false, false]

pose0: amcl_pose
pose0_config: [true,  true,  true,
               true,  true,  false,
               false, false, false,
               false, false, false,
               false, false, false]
publish_tf: true
map_frame: map
odom_frame: odom
base_link_frame: base_link
world_frame: odom