reduce noise and delete model namespace in /odom and /cmd_vel topics

Author: aquintan4

CustomRobots/roomba_robot/models/roombaROS/model.sdf

@@ -466,10 +466,10 @@
       <frame_id>odom</frame_id>
       <child_frame_id>base</child_frame_id>
 
-      <alpha1>0.02</alpha1>
-      <alpha2>0.02</alpha2>
-      <alpha3>0.01</alpha3>
-      <alpha4>0.01</alpha4>
+      <alpha1>0.005</alpha1>
+      <alpha2>0.005</alpha2>
+      <alpha3>0.0025</alpha3>
+      <alpha4>0.0025</alpha4>
     </plugin>
 
   </model>

CustomRobots/roomba_robot/models/roombaROS_cam/model.sdf

@@ -634,10 +634,10 @@
       <frame_id>odom</frame_id>
       <child_frame_id>base</child_frame_id>
 
-      <alpha1>0.02</alpha1>
-      <alpha2>0.02</alpha2>
-      <alpha3>0.01</alpha3>
-      <alpha4>0.01</alpha4>
+      <alpha1>0.005</alpha1>
+      <alpha2>0.005</alpha2>
+      <alpha3>0.0025</alpha3>
+      <alpha4>0.0025</alpha4>
     </plugin>
 
   </model>

CustomRobots/roomba_robot/params/roombaROS.yaml

@@ -1,10 +1,10 @@
-- ros_topic_name: "/roombaROS/odom"
+- ros_topic_name: "/odom"
   gz_topic_name: "/roombaROS/odom"
   ros_type_name: "nav_msgs/msg/Odometry"
   gz_type_name: "gz.msgs.Odometry"
   direction: GZ_TO_ROS
 
-- ros_topic_name: "/roombaROS/cmd_vel"
+- ros_topic_name: "/cmd_vel"
   gz_topic_name: "/roombaROS/cmd_vel"
   ros_type_name: "geometry_msgs/msg/Twist"
   gz_type_name: "gz.msgs.Twist"

CustomRobots/roomba_robot/params/roombaROS_cam.yaml

@@ -1,10 +1,10 @@
-- ros_topic_name: "/roombaROS/odom"
+- ros_topic_name: "/odom"
   gz_topic_name: "/roombaROS/odom"
   ros_type_name: "nav_msgs/msg/Odometry"
   gz_type_name: "gz.msgs.Odometry"
   direction: GZ_TO_ROS
 
-- ros_topic_name: "/roombaROS/cmd_vel"
+- ros_topic_name: "/cmd_vel"
   gz_topic_name: "/roombaROS/cmd_vel"
   ros_type_name: "geometry_msgs/msg/Twist"
   gz_type_name: "gz.msgs.Twist"