OdometryPublisher xyz_global_offset, rpy_global_offset

[aserbremen]

Desired behavior

Being able to configure the global intial/odometry frame position with the OdometryPublisher using something like xyz_global_offset, rpy_global_offset . This way it would be possible to publish the ground truth odometry of an entity wrt. to an arbitrary frame (e.g. using odom_frame=odom and robot_base_frame=base_link).

Alternatives considered

I tried to use xyz_offset and rpy_offset but the odometry result is changed in body-fixed coordinates, so that these parameters cannot be used to achieve the desired behavior. When rotating the entity that uses xyz_offset and rpy_offset the pose is changed drastically and is not usable anymore.

Implementation suggestion

This file has to be changed, with the additional parameter: https://github.com/gazebosim/gz-sim/blob/gz-sim8/src/systems/odometry_publisher/OdometryPublisher.cc

Additional context

I use Gazebo Sim, version 6.16.0.