Odometry node

[VishGit1234]

Odometry in local reference frame is needed for robot localization. This means using the speed and steering wheel angle information from the car to give a guess on the vehicle's position/velocity. There are numerous dynamics models that can be used for this, including bicycle and Ackermann steering. Either should work (since all we need is a guess) but Ackermann would be better. So for this task ...

• Create a node that takes in speed and steering wheel information and uses a dynamics model to estimate the vehicle's position/velocity. This is the specific information from the vehicle we will have as input (https://github.com/PolySync/oscc/wiki/Firmware-OBD)
• Test using topics from CARLA simulator