Check frame of speed in odometry msgs for state estimator
Description
I have overlooked this statement in the odometry message:
# The pose in this message should be specified in the coordinate frame given by header.frame_id.
# The twist in this message should be specified in the coordinate frame given by the child_frame_id
For now this is not the way speed is published from the state_estimation_node
. It should be in the child frame, aka local for the vehicle in this case, while I rotate it and send out the rotated vector.
This issue is here to check the correctness of what is currently done and correct it if it is indeed wrong.