Add latched topics and magnetic field #213
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Added ability to specify latched topics when creating the topic (good for /tf_static). Added magnetic field message (https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/MagneticField.html).
To ensure compilation on UE5.3.2 on Ubuntu 20.04, the code has been updated.
Angular velocity covariance is not published for IMUs, as it erroneously used the orientation_covariance for publishing. Fixed this bug by updating to use angular_velocity_covariance.
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Changes:
Tested on Windows 11 with UE 5.3.2 (code compiles, latching works when tested with /tf_static, and magnetic field message is published to ROS Noetic properly). Also tested on Ubuntu 20.04 with UE5.5.1.