Publish ground truth data to /<name>/pose instead of /<name>/pose_static

[adlarkin]

Currently, ground truth pose data is being published to a robot's pose_static topic, which is problematic for the following reasons:

1. This implies that the ground truth pose doesn't change (or doesn't change often, at least), which is not true for most use cases.
2. The pose_static topic publishes at a rate of 1Hz, making the ground truth data difficult to use for real-time debugging (the pose topic publishes at a rate of 250Hz).

Resolves #659 and resolves #607.

TODO:

• Make models X1 ... X4 also publish ground truth data to /<name>/pose (I'm waiting for Combine all circuit launch files #745 to be merged before doing this)

Signed-off-by: Ashton Larkin [email protected]

[adlarkin]

Closing this because the same solution was proposed in #759

[osrf-jenkins]

Build finished. No test results found.