[mecanum_drive_controller] Fix Odometry Initialization (backport #1573)

[mergify]

This PR addresses an issue where the odometry object wasn't initialized properly in the mecanum_drive_controller. The odometry_.init() call was missing, which the base_frame_offset_ could contain random values, leading to incorrect calculations in the transformation matrix. Specifically, this affects the line:

tf2::Vector3 linear_transformation_from_center_2_base =
    angular_transformation_from_center_2_base *
    tf2::Vector3(-base_frame_offset_[0], -base_frame_offset_[1], 0.0);

and causes velocity_in_base_frame_linear_x and velocity_in_base_frame_linear_y to grow unbound. A test case was added to guard against this issue.

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This is an automatic backport of pull request #1573 done by Mergify.