message: fixed covariance to identity when invalid covariance is received
diff: @@ -1208,7 +1208,7 @@ void CoreWrapper::process(
  cv::Mat covariance = odomCovariance;
  if(covariance.empty() || !uIsFinite(covariance.at<double>(0,0)) || covariance.at<double>(0,0)<=0.0f)
  {
  - covariance = cv::Mat::ones(6,6,CV_64FC1);
  + covariance = cv::Mat::eye(6,6,CV_64FC1);
  if(odomDefaultLinVariance_ > 0.0f)
  {
  covariance.at<double>(0,0) = odomDefaultLinVariance_;
  