sudo gedit /opt/ros/melodic/share/gazebo_ros/launch/empty_world.launch
<!-- start gazebo server-->
<node name="gazebo" pkg="gazebo_ros" type="gzserver" respawn="false" output="screen"
args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) $(arg world_name)">
<remap from="tf" to="gazebo_tf"/> //重映射tf
</node>