fix ROS topic names

[zimmy87]

Fixes: #3805
Fixes: #2602
Fixes: #3878

About

This PR updates vel_cmd_world_frame and odom_local_ned topic names to include vehicle name so that communication between PIDPositionController and AirsimROSWrapper. The changes for updating the odom_local_ned topic comes from @leoborgnino's work on #2789

How Has This Been Tested?

ROS node was built with changes applied and the repro steps in #3805 were followed

Screenshots (if appropriate):

[rajat2004]

Is a loop needed here? Also, getParam returns a bool whether the param exists or not, that can also be used for error checking. If needed, the listVehicles API could also be used for this ig

[leoborgnino]

Yes, I think a better solution could be addressed, this works but I don't think that is the most elegant solution (I did it so I can ensure that hahaha). Two problems I can remember:

1. That nasty loop

2. Multiple vehicles (this only if we think in a future multi-vehicle implementation of pd position controller)

3. Can be addressed by creating a service with String[] msg with the name of the vehicles and then using ros::service::waitForService("/vehicle_name_srv", -1)) function. (maybe a timeout of 100 sec instead infinity). So we have a service that provides the name of vehicles. My start thought was that names are static so a rosparam could be the solution. The while waiting is because the rosparam is set in the settings.json parser.

4. I think pd position controller doesn't support multiple vehicles (am I right, no?) this could be addressed by other PR but with the solution in 1, it's possible because we can get all the names and create the publisher for each one. Then a few changes in the methods to support the multiple independent controllers.

[jonyMarino]

David. can you solve the conflict, please?

[jonyMarino]

Thanks David!