resetOdometry as a ros2 srv

[Fixit-Davide]

Is your feature request related to a problem? Please describe.
During debugging or testing session it could be useful to reset to odometry of a moving robot by simply calling a ROS2 service.

Describe the solution you'd like
A simple ROS2 service (std_srvs/srv/Empty or std_srvs/srv/Trigger) that, once triggered, calls for the method resetOdometry() of the implemented controller.