message: OdometryROS: set initial pose to guess transform when provided.
diff: @@ -617,7 +617,18 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp,
  if(!guessFrameId_.empty())
  {
  guessCurrentPose = this->getTransform(guessFrameId_, frameId_, stamp);
  - Transform previousPose = guessPreviousPose_.isNull()?guessCurrentPose:guessPreviousPose_;
  +
  + Transform previousPose = guessPreviousPose_;
  + if(guessPreviousPose_.isNull())
  + {
  + previousPose = guessCurrentPose;
  + if(!guessCurrentPose.isNull() && odometry_->getPose().isIdentity())
  + {
  + ROS_INFO("Odometry: init pose with guess %s", guessCurrentPose.prettyPrint().c_str());
  + odometry_->reset(guessCurrentPose);
  + }
  + }
  +
  if(!previousPose.isNull() && !guessCurrentPose.isNull())
  {
  if(guess_.isNull())
  