main branch 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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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, 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]

Just waiting on CI and I'll merge the pair

[SteveMacenski]

All of the system tests failed and I can say honestly I have no idea why. I'm re-running CI to see if it was just a fluke

[SteveMacenski]

@bot-lin please rebase your PR on main's current state (or pull it in), the PR appears to be failing due to a caching issue with missing a message that was recently added

[SteveMacenski]

#2822 supersedes