1/2 Use odom topic with velocity

mujoco/idl/builtin_interfaces/msg/Time.idl

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+// builtin_interfaces::msg::dds_::Time_ — see PROTOCOL.md.
+// Field layout verified against include/booster/idl/builtin_interfaces/Time.h.
+
+module builtin_interfaces {
+    module msg {
+        module dds_ {
+            struct Time_ {
+                long sec;
+                unsigned long nanosec;
+            };
+        };
+    };
+};

mujoco/idl/geometry_msgs/msg/PoseWithCovariance.idl

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+// geometry_msgs::msg::dds_::PoseWithCovariance_ — see PROTOCOL.md.
+// Field layout verified against include/booster/idl/geometry_msgs/PoseWithCovariance.h.
+
+#include "Pose.idl"
+
+module geometry_msgs {
+    module msg {
+        module dds_ {
+            struct PoseWithCovariance_ {
+                geometry_msgs::msg::dds_::Pose_ pose;
+                double covariance[36];
+            };
+        };
+    };
+};

mujoco/idl/geometry_msgs/msg/Twist.idl

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+// geometry_msgs::msg::dds_::Twist_ — see PROTOCOL.md.
+// Field layout verified against include/booster/idl/geometry_msgs/Twist.h.
+
+#include "Vector3.idl"
+
+module geometry_msgs {
+    module msg {
+        module dds_ {
+            struct Twist_ {
+                geometry_msgs::msg::dds_::Vector3_ linear;
+                geometry_msgs::msg::dds_::Vector3_ angular;
+            };
+        };
+    };
+};

mujoco/idl/geometry_msgs/msg/TwistWithCovariance.idl

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+// geometry_msgs::msg::dds_::TwistWithCovariance_ — see PROTOCOL.md.
+// Field layout verified against include/booster/idl/geometry_msgs/TwistWithCovariance.h.
+
+#include "Twist.idl"
+
+module geometry_msgs {
+    module msg {
+        module dds_ {
+            struct TwistWithCovariance_ {
+                geometry_msgs::msg::dds_::Twist_ twist;
+                double covariance[36];
+            };
+        };
+    };
+};

mujoco/idl/geometry_msgs/msg/Vector3.idl

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+// geometry_msgs::msg::dds_::Vector3_ — see PROTOCOL.md.
+// Field layout verified against include/booster/idl/geometry_msgs/Vector3.h.
+
+module geometry_msgs {
+    module msg {
+        module dds_ {
+            struct Vector3_ {
+                double x;
+                double y;
+                double z;
+            };
+        };
+    };
+};

mujoco/idl/nav_msgs/msg/Odometry.idl

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+// nav_msgs::msg::dds_::Odometry_ — see PROTOCOL.md.
+// Field layout verified against include/booster/idl/nav_msgs/Odometry.h.
+
+#include "Header.idl"
+#include "PoseWithCovariance.idl"
+#include "TwistWithCovariance.idl"
+
+module nav_msgs {
+    module msg {
+        module dds_ {
+            struct Odometry_ {
+                std_msgs::msg::dds_::Header_ header;
+                string child_frame_id;
+                geometry_msgs::msg::dds_::PoseWithCovariance_ pose;
+                geometry_msgs::msg::dds_::TwistWithCovariance_ twist;
+            };
+        };
+    };
+};

mujoco/idl/std_msgs/msg/Header.idl

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+// std_msgs::msg::dds_::Header_ — see PROTOCOL.md.
+// Field layout verified against include/booster/idl/std_msgs/Header.h.
+
+#include "Time.idl"
+
+module std_msgs {
+    module msg {
+        module dds_ {
+            struct Header_ {
+                builtin_interfaces::msg::dds_::Time_ stamp;
+                string frame_id;
+            };
+        };
+    };
+};