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Use static transform from odom to base_link

Nikolai Morin requested to merge 636-use-static-odom-baselink-tf into integration

Description

As discussed in a call with Josh, the AVP demo will use the odom = base_link hack. This MR implements that hack in the MS3 launch file.

Relates to #636 (closed) and #626 (closed)

Notes for Reviewer

One outstanding issue is that lidar data can't get visualized when the fixed frame is set to "map" in RViz. Since this is not a regression, I think I can merge this nevertheless.

Checklist

  • Documentation was updated
Edited by Nikolai Morin

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