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So I found out you can stop gazebo from broadcasting the odom -> Base_footprint transform by going to the launch file where you launch your empty_world or whatever world it is you use and insert the following as an argument

<remap from="tf" to="gazebo_tf"/>

This takes away the gazebo transform. However, this requires you to be entirely responsible for broadcasting the odom->base_footprint transform yourself. Was able to get this done.

For some reason though, the issue with the map not being as good still persists. Hopefully I find a fix soon.