Use odometrySource == Encoder

Author: Emiliano Borghi

ca_description/urdf/create_base_gazebo.xacro

@@ -21,7 +21,7 @@
         <publishWheelTF>true</publishWheelTF>
         <publishOdomTF>false</publishOdomTF>
         <publishWheelJointState>true</publishWheelJointState>
-        <odometrySource>world</odometrySource>
+        <odometrySource>encoder</odometrySource>
         <publishTf>true</publishTf>
       </plugin>