Added ins origin logic. Rotated tf2 dvl frame

[jorgenfj]

No description provided.

[codecov]

Codecov Report

❌ Patch coverage is 0% with 19 lines in your changes missing coverage. Please review.
✅ Project coverage is 38.36%. Comparing base (cfa05ed) to head (8023b47).

Files with missing lines	Patch %	Lines
...vigation/odom_transformer/src/odom_transformer.cpp	0.00%	19 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #716      +/-   ##
==========================================
+ Coverage   38.34%   38.36%   +0.02%     
==========================================
  Files          83       83              
  Lines        6679     6675       -4     
  Branches     2480     2477       -3     
==========================================
  Hits         2561     2561              
+ Misses       3440     3436       -4     
  Partials      678      678              

Flag	Coverage Δ
unittests	38.36% <0.00%> (+0.02%)	⬆️

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Files with missing lines	Coverage Δ
...rmer/include/odom_transformer/odom_transformer.hpp	0.00% <ø> (ø)
...vigation/odom_transformer/src/odom_transformer.cpp	0.00% <0.00%> (ø)

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