Odom Topic & Frame Namespaces

[sp-sophia-labs]

Description

The goal of this PR is to enable namespaces on diff_drive_controller for the odom topic and the odom frame

How has this been tested?

We have tested this code on create3 and turtlebot4 robots. You can find our project here: https://github.com/sp-sophia-labs/turtlebot4_multi_sim. Reviewers may clone the project and replicate exactly what we use for testing (you can find the details in the project's README)

Checklist

• Lint code with appropriate parser
• Rebase code on galactic branch

[bmagyar]

I'd really prefer to merge this into master and backport to Galactic. Is that ok with you? I know you've tested it in Galactic

To fix most of the formatting issues, you can run pre-commit run --all and just add a new commit with the format changes.

[mergify]

This pull request is in conflict. Could you fix it @sp-sophia-labs?

[sp-sophia-labs]

@bmagyar No problem for me, I've rebased the changes on master and fixed the linting with pre-commit

[bmagyar]

Assign namespace prefix directly to odom_params to simplify code

[bmagyar]

Assign namespace prefix directly to odom_params to simplify code

[codecov-commenter]

Codecov Report

Merging #461 (67947f3) into master (e7f9962) will decrease coverage by 6.03%.
The diff coverage is 20.21%.

@@            Coverage Diff             @@
##           master     #461      +/-   ##
==========================================
- Coverage   35.78%   29.74%   -6.04%     
==========================================
  Files         189        7     -182     
  Lines       17570      743   -16827     
  Branches    11592      428   -11164     
==========================================
- Hits         6287      221    -6066     
+ Misses        994      162     -832     
+ Partials    10289      360    -9929     

Flag	Coverage Δ
unittests	29.74% <20.21%> (-6.04%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...de/diff_drive_controller/diff_drive_controller.hpp	100.00% <ø> (ø)
...ontroller/test/test_load_diff_drive_controller.cpp	12.50% <0.00%> (ø)
diff_drive_controller/src/odometry.cpp	42.16% <11.11%> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	17.62% <12.08%> (ø)
diff_drive_controller/src/speed_limiter.cpp	46.55% <13.33%> (ø)
...troller/include/diff_drive_controller/odometry.hpp	20.00% <20.00%> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	32.13% <24.11%> (ø)
...ollers/test/test_joint_group_effort_controller.cpp
...lers/test/test_joint_group_position_controller.cpp
...ler/test/test_load_joint_trajectory_controller.cpp
... and 192 more