Odometry: problems with velocity calculation

Odometry is calculated incorrectly. The position is calculated right, but the velocity is not. If we consider any example in which navigation is published (Isaac Examples→ROS→Navigation or Isaac Examples→ROS→Multiple Robot Navigation), set the position z=5 meters for Carter and run the simulation, then Carter will fall, and its velocity according to odometry will be near zero. That is no correct. It is possible that only the z-component of the velocity is calculated incorrectly

The odometry node is currently limited to 2D navigation, we plan on making it general for 3d in the future.

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