Add odom publisher #8
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遅くなってしまい，申し訳ありません！ |
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OdomPublisher.csを追加しました．Right Wheel NameとLeft Wheel Nameに左右のホイールのオブジェクトの名前を指定すると，該当するオブジェクトのHinge Jointから回転速度を取得し，ホイールオドメトリを計算，指定されたトピックにpublishします．車輪径とトレッドは，指定されたホイールオブジェクトの
TwistTestから取得します．このスクリプト自体は，両輪のオブジェクトの共通の親に適用する必要があります(例えば
base_link)．nav_msgs/Odometryのchild_frame_idには，このスクリプトを適用したオブジェクトの名称がそのまま使われます．publish先のトピック名と
frame_idはそれぞれTopicとFrame Idから指定できます．お時間のある時にご確認ください