ground truth odom (relative to where the model was spawned) #1468
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Hi
The merge request includes a ground truth odom publisher. This can be optionally enabled with
<publish_odom_ground_truth>true</publish_odom_ground_truth>. Thus, there should be no compatibility problems.The new added ground truth odom publishes the relative position to the initial position. This distinguishes it from odometry_source = ENCODER or WORLD and is an addition.