The default odometry topic has the twist portion in the odom frame and not the body frame. This is because the robot generates it in that way (https://dev.bostondynamics.com/protos/bosdyn/api/proto_reference#kinematicstate). This causes problems with ROS components which expect the twist to be in the child_frame_id.
This PR adds a topic /spot/odometry_corrected which has the twist in the correct frame, fixing #95.
The default odometry topic has the twist portion in the odom frame and not the body frame. This is because the robot generates it in that way (https://dev.bostondynamics.com/protos/bosdyn/api/proto_reference#kinematicstate). This causes problems with ROS components which expect the twist to be in the child_frame_id.
This PR adds a topic
/spot/odometry_correctedwhich has the twist in the correct frame, fixing #95.