robot_state_publisher looks for the parameter "robot_description" by default.
The robot_state_publisher tutorials suggest that you use the following to change this:
<node pkg="robot_state_publisher" type="state_publisher" name="rob_st_pub" >
<remap from="robot_description" to="different_robot_description" />
</node>
Gazebo: Could not find parameter robot_description on parameter server
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