[vio-pipeline] Add 'vehicle_lidar_odometry' alias to 'vehicle_odometry' uORB msg

[TSC21]

Purpose: Add a new external estimation input based on 360º/multidirectional lidar pose estimation/SLAM. This would be an input from a RTPS stream, or even from Mavlink. The idea is to fuse this as a new estimation/sensor source to feed into the estimator, which can be used together with a VIO input.

Concerns:

1. If the input comes from ODOMETRY Mavlink msg, then new MAV_FRAME entries need to be added for the lidar case;
2. Verify how we can bring this to EKF2 as well.

[TSC21]

@jkflying FYI

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[TSC21]

Still relevant

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[stale]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

[junwoo091400]

Is it still relevant?

[TSC21]

Yes