Adding odom topic passed to Odom Smoother

[bot-lin]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#2785
Primary OS tested on	Ubuntu 20.04
Robotic platform tested on	gazebo simulation

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Description of contribution in a few bullet points

• Passed odom topic from bt_navigator to odom smoother

Description of documentation updates required from your changes

• bt_navigator can now subscribe to specified odom topic.

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[mergify]

@bot-lin, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @galactic, but it must be in main
to have these changes reflected into new distributions.

[mergify]

@bot-lin, please properly fill in PR template in the future. @SteveMacenski, use this instead.

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[SteveMacenski]

This looks good to me, but we need a PR against main so that all new distributions will have this change reflected in it. Galactic branch will only reflect Galactic developers. Please submit this PR against the main branch, its a trivial number of changes so it should be easy to checkout the main branch and add them by hand and submit a new branch as a PR

[SteveMacenski]

#2822 supersedes