User defined coordinate system origin definition for odometry topic

[GeneSysTobiasWagner]

The Odometry Topic shall provide the configuration of an individual coordinate system origin, which is given a name. The origin should be defined using lat, long and height. The direction of the x-axis shall be defined with an user defined angle to north. The configuration could be made via launch or config file of the driver.

[GeneSysTobiasWagner]

In addition it would certainly be helpful if we also had the header frame ID of the topic as a configuration parameter, so we could name this string project-specifically.