Changes
Added Marsyard 2022 Gazebo world
Added pose offset to /ground_truth topic
The /ground_truth topic now contains pose of the robot in the coordinate frame described in the Environment Update document (starting position in <0,0,0>) instead of pose in the gazebo world.
Add a workaround to issue related to simulated ZED2 odometry
The simulated ZED2 odometry has an issue upon start due to race condition that results in the odometry messages containing initial position and huge covariance values. As a workaround, the odometry will now be automatically reset after 10 seconds from the start.