PERCEPTION: Fuse odometry

[nico-palmar]

• Use robot localization package to fuse imu and wheel encoder data. Ensure we are only taking the desired data from both wheel encoders and imu (especially for the imu, figure out what specific data members we should be fusing into the ekf). This part will require a little bit of trial and error, but we should start with the simplest configuration possible.

• The end goal here is to provide the odom -> base_link transform, which is given to us by the robot_localization package. See https://navigation.ros.org/setup_guides/odom/setup_odom.html.

[nico-palmar]

Fusing odometry. Both Edward and nafis need to finish their tasks before this one can be done.