Use imu rotation to estimate orientation of odometry #623
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Summary
Orientation of odometry drifts more than translation. Using the IMU can maybe better the estimation.
It also makes the odometry transform continous instead of having little jumps inbetween.
For some reason now the proposed change and the solution we found do not really differ at all. We need to look into that.
Proposed changes
Use the orientation directly.
Related issues
#601
Checklist
colcon build