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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.

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