This subscribes to the diffdrive_raw topic and broadcasts a transform from odom to base_link. There are a few uncertainties, such as my assumption that tf2::Vector3 is implicitly converted from RPY to a quaternion with https://docs.ros.org/kinetic/api/tf2/html/namespacetf2.html#a701335dd7331e8391843b31dd89746a6. However, that is a predictable and harmless fix so we only stand to gain by pushing this into master.
This subscribes to the diffdrive_raw topic and broadcasts a transform from odom to base_link. There are a few uncertainties, such as my assumption that tf2::Vector3 is implicitly converted from RPY to a quaternion with https://docs.ros.org/kinetic/api/tf2/html/namespacetf2.html#a701335dd7331e8391843b31dd89746a6. However, that is a predictable and harmless fix so we only stand to gain by pushing this into master.