set odometry interface for the new service

[kuralme]

A service interface to use with odometry set services. Related to #2096

[christophfroehlich]

Should we really use a 6D-pose here?
With our robots, we only use a 2D pose like:
odometry_.setOdometry(pose.position.x, pose.position.y, tf2::impl::getYaw(q));

I just think of a debugging session where I desperately would try to guess the quaternion in the CLI ;)

[saikishor]

We could use a similar message like https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_msgs%2Fsrv%2FResetPose.srv

@christophfroehlich regarding 6D pose, maybe it is better as it can also be used for the quadrupeds and bipeds

[christophfroehlich]

I just don't like quaternions in human-accessible interfaces ;)

[saikishor]

I just don't like quaternions in human-accessible interfaces ;)

Sure. I agree with quaternions. I also don't like them. I just referring to Euler angles.

[christophfroehlich]

I am fine with the current solution, but thinking again:

We could use a similar message like https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_msgs%2Fsrv%2FResetPose.srv

@christophfroehlich regarding 6D pose, maybe it is better as it can also be used for the quadrupeds and bipeds

This comment goes in the same direction:

https://github.com/ros2/common_interfaces/blob/0134f04711e2b93eff3a4711eed91e3191b526b0/geometry_msgs/msg/Pose2D.msg#L4

should we instead use full 6D, but with RPY orientation and project it to the 2D pose?

[kuralme]

Sorry i overlooked that part, I will add the remaining as well. Its a little bit more work for the user but better then quaternion i guess