Integrate URDF

We should integrate the URDF files we have (and probably produce a tf tree) so we can have less parameters in our nodes. Also we can update odometry to output joint states.

Start by locating the existing URDF files and the odometry implementation. Determine how a tf tree would reduce node parameters and how odometry should expose joint states, then verify the integration across the affected nodes. The issue does not name specific files, tests, or a completion check, so the intended design needs clarification first.

Written by the indexing model from the issue text.