cmd_vel_mux + base_link frame name + odometry_transformer

[alexlin2]

Summary

This PR introduces command-velocity multiplexing and odometry frame normalization updates across the navigation stack.

What changed

• Added a new cmd_vel_mux utility package:
  • Priority-based velocity command arbitration
  • Config and launch integration for multi-source cmd_vel handling
• Added a new odom_transformer utility package:
  • New odom_transformer_node implementation
  • Updated odometry flow to use /odom_base_link
• Updated local planner and related launch/config files:
  • Removed sensor offset parameters from config/source
  • Updated odometry topic references
• Standardized frame naming:
  • Replaced vehicle frame usage with base_link where needed
• Updated system launch scripts and launch files:
  • Consistent workspace setup sourcing
  • Included cmd_vel_mux in relevant launch paths
• Included small fixes:
  • Build fix
  • RViz fix
  • README URL correction

Diff snapshot

• 40 files changed
• 1040 insertions, 65 deletions

Test plan

• Build updated packages:
  • colcon build --packages-select cmd_vel_mux odom_transformer local_planner vehicle_simulator
• Run simulation launch and verify:
  • cmd_vel_mux starts and selects expected command source by priority
  • odometry topic /odom_base_link is published and consumed correctly
  • TF tree uses base_link consistently
• Validate local planner behavior in sim and real-robot launch variants
• Open RViz config and verify expected visualization behavior

Notes

• Branch comparison used: dev...dynamic_params
• Commit set includes infrastructure updates plus integration fixes (build, rviz, and README URL)