Fix IMU references.

[rafa-martin]

• Remove parameters:

  • tf_ned_to_nwu
  • tf_ned_to_enu
  • frame_based_nwu
  • frame_based_enu

• Allow to set reference frame for orientation (must change only orientation and orientation covariance):

  • ned, sensor's original data.
  • enu, ROS' standard. Must be the default setting.

• Rotate angular velocity and linear accelerations to convert from sensors internal frame (x forward, y right, z down) to match ROS standard (x forward, y left, z up).

• Keep rotation_reference_frame as a way to specify mounting pose of sensor

[marbosjo]

Test with:

• standard odometry test,
• cartographer,
• robot_localization & navsat_transform.

[marbosjo]

done & merged:

• removed parameters for ned/enu/nwu

to be done:

• publish mag/odom/etc messages

not to be done:

• allow for ned publishing