Gazebo: Could not find parameter robot_description on parameter server

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>