Properly fill the angular velocity for the state estimator output
Description
As of #1076 (closed) the angular velocity vector on the output Odometry message from the state estimator is not set. It is not trivial how to transform the angular velocity between frames. This issue is here to track figuring out the proper way and implementing this behavior.
Definition of Done
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Correct angular velocity vector is set in the twist of the output Odometry message from the state estimator.