Wrong Linear Twist Values of /car_1/base/odom

[mariusrodi]

I've notices the linear twist values I get from /car_1/base/odom are relative to the coordinate system of the world.

Output from rostopic echo /car_1/base/odom:

header: 
  seq: 874
  stamp: 
    secs: 355
    nsecs: 466000000
  frame_id: "odom"
child_frame_id: "car_1_base_link"
pose: 
  pose: 
    position: 
      x: 18.2361963383
      y: -1.55624733145
      z: 0.0499878947759
    orientation: 
      x: 5.48518367307e-05
      y: -1.22558539276e-05
      z: 0.434110485011
      w: 0.900859635928
  covariance: [0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001]
twist: 
  twist: 
    linear: 
      x: 0.623634978341
      y: 0.775241090904
      z: -0.0144921130247
    angular: 
      x: 0.139162996584
      y: 0.0442186870722
      z: 0.0903942005565
  covariance: [0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001]

That part is the important one:

twist: 
  twist: 
    linear: 
      x: 0.623634978341
      y: 0.775241090904
      z: -0.0144921130247

But as in ROS Docs nav_msgs/Odometry Message specified, the twist should be specified in the coordinate frame given by the child_frame_id, which is car_1_base_link.