[SW-893] odometry velocities reported in the wrong frame

[khughes-bdai]

Change Overview

As brought up in #29, the odometry twist should be reported in the body frame, not the odom frame. This will make the spot driver easier to use with other ROS tools that expect this data to be in this format.

Testing Done (TODO)

• walk the robot in a straight line from a variety of different heading angles. ensure that the twist component has linear velocity only in the x dimension.
  • tested this on robot. didn't seem to work as i was seeing significant velocity components in both x and y while walking the robot in a straight line. so either I'm not understanding something about how the ExpressVelocityInNewFrame function works (or maybe it just doesn't work) or i have some other random bug.
• DMM's rtabmap pipeline still works as expected
• update gtests to account for this new change (they won't pass currently)

[khughes-bdai]

• [SW-893] odometry velocities reported in the wrong frame #416 👈
• main

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[coveralls]

Pull Request Test Coverage Report for Build 9664069179

Details

• 12 of 12 (100.0%) changed or added relevant lines in 1 file are covered.
• 3 unchanged lines in 1 file lost coverage.
• Overall coverage increased (+0.06%) to 52.893%

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Files with Coverage Reduction	New Missed Lines	%
spot_driver/src/conversions/robot_state.cpp	3	93.93%

Totals
Change from base Build 9568975144:	0.06%
Covered Lines:	1883
Relevant Lines:	3560

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💛 - Coveralls

[coveralls]

Pull Request Test Coverage Report for Build 9664577407

Details

• 13 of 13 (100.0%) changed or added relevant lines in 1 file are covered.
• 3 unchanged lines in 1 file lost coverage.
• Overall coverage increased (+0.08%) to 52.906%

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Files with Coverage Reduction	New Missed Lines	%
spot_driver/src/conversions/robot_state.cpp	3	93.95%

Totals
Change from base Build 9568975144:	0.08%
Covered Lines:	1884
Relevant Lines:	3561

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💛 - Coveralls

[coveralls]

Pull Request Test Coverage Report for Build 11446337408

Details

• 19 of 20 (95.0%) changed or added relevant lines in 2 files are covered.
• 1 unchanged line in 1 file lost coverage.
• Overall coverage increased (+0.1%) to 51.184%

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Changes Missing Coverage	Covered Lines	Changed/Added Lines	%
spot_driver/src/conversions/robot_state.cpp	18	19	94.74%

Files with Coverage Reduction	New Missed Lines	%
spot_driver/src/conversions/robot_state.cpp	1	94.47%

Totals
Change from base Build 11445280253:	0.1%
Covered Lines:	1945
Relevant Lines:	3800

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💛 - Coveralls