Summary:
PX4 assumed that odometry orientation was a way to rotate data from parent frame to child frame, so to rotate child to parent, it was taking the inverse rotation of the odometry orientation,
but orientation rotates the parent frame to the child frame, whereas for data, it represents a rotation from child to parent; hence, the rotation inverse operations were removed.
Test Plan: Checked that vehicle_mocap_odometry and vehicle_local_position gave correct linear velocities. Also visualized px4 output twist in rviz.
Nick Steele