public void publish(long timestamp, RigidBodyTransform transform, Vector3DReadOnly linearVelocity, Vector3DReadOnly angularVelocity, String childFrame, String frameId)
{
Odometry message = getMessage();
Header header = createHeaderMsg(timestamp);
header.setFrameId(frameId);
message.setHeader(header);
PoseWithCovariance poseWithCovariance = createPoseWithCovarianceMsg(transform);
message.setPose(poseWithCovariance);
TwistWithCovariance twistWithCovariance = createTwistWithCovariance(linearVelocity, angularVelocity);
message.setTwist(twistWithCovariance);
message.setChildFrameId(childFrame);
publish(message);
}