parameterize odom covariances

[mikeferguson]

The pose and twist covariance matrices are improperly filled in, which means you can't directly use the message with Fuse (which doesn't easily allow overriding the covariance the way robot_localization did)

[mikeferguson]

@erelson I had this sitting around, noticed when I needed to pull the latest commit to build under Jazzy/24.04

[erelson]

Sounds good to me. Will go ahead and merge.