simulator: add ODOMETRY Mavlink msg handler

src/modules/simulator/simulator.h

@@ -1,6 +1,7 @@
 /****************************************************************************
  *
  *   Copyright (c) 2015 Mark Charlebois. All rights reserved.
+ *   Copyright (c) 2018 PX4 Pro Dev Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -43,7 +44,9 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_odometry.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/irlock_report.h>
@@ -341,7 +344,8 @@ private:
 	// class methods
 	int publish_sensor_topics(mavlink_hil_sensor_t *imu);
 	int publish_flow_topic(mavlink_hil_optical_flow_t *flow);
-	int publish_ev_topic(mavlink_vision_position_estimate_t *ev_mavlink);
+	template<typename T>
+	int publish_odometry_topic(T *odom_mavlink);
 	int publish_distance_topic(mavlink_distance_sensor_t *dist);
 
 #ifndef __PX4_QURT