Tf prefix helper for omniwheel drive

[kuralme]

Used tf frame prefix helper similar to the diff drive controller. TF enable-flag tests removed.

Related PR

[codecov]

Codecov Report

❌ Patch coverage is 66.66667% with 5 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.72%. Comparing base (abdaed1) to head (976b9dc).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
...ive_controller/src/omni_wheel_drive_controller.cpp	50.00%	2 Missing and 3 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2073      +/-   ##
==========================================
- Coverage   84.78%   84.72%   -0.06%     
==========================================
  Files         151      151              
  Lines       14556    14543      -13     
  Branches     1265     1266       +1     
==========================================
- Hits        12341    12322      -19     
- Misses       1761     1763       +2     
- Partials      454      458       +4     

Flag	Coverage Δ
unittests	84.72% <66.66%> (-0.06%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...ntroller/test/test_omni_wheel_drive_controller.cpp	100.00% <100.00%> (ø)
...ntroller/test/test_omni_wheel_drive_controller.hpp	86.00% <ø> (ø)
...ive_controller/src/omni_wheel_drive_controller.cpp	84.10% <50.00%> (-2.29%)	⬇️

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[mergify]

This pull request is in conflict. Could you fix it @kuralme?

[christophfroehlich]

Thanks!

[kuralme]

Not exactly right place to ask but since this is open... I am confused about the steering controller part in your comment. There are no tf prefix related params/codes in steering_controllers_library, shall i create new params in the yaml, similar codes and tests?

[christophfroehlich]

you can also comment in closed PRs ;) Yes, please just add it if it is not available there (no need for the backward compatibility stuff obviously).

[Juliaj]

LGTM.