Testing only odometry messages contain wrong data

[mateusz-lichota]

The definition of the Odometry message message says "The twist in this message should be specified in the coordinate frame given by the child_frame_id". However, the testing only Odometry message that the fsds_ros2_bridge (and probably also fsds_ros_bridge) publishes contains both pose and twist in the map frame, which causes errors when processing that data with applications assuming adherence to the standard (like robot_localization). I'm changing this behavior in my fork; let me know if you'd like a pull request with the changes to this repo.

[wouter-heerwegh]

It would be nice to have these changes indeed. I think the behaviour of the GSS is wrong aswell, as it is also showing the speed of the car in the map frame. We'll port the changes also to ros 1 and the GSS