Use offset in odometry

[val-ba]

Proposed changes

Related issues

Necessary checks

• [ ] Update package version
• [ ] Run catkin build
• [ ] Write documentation
• [ ] Create issues for future work
• [ ] Test on your machine
• [ ] Test on the robot
• [ ] Put the PR on our Project board

[Flova]

Afaik this pr still had some issues and we might want to investigate it further in the future.