Remove "namespace" attribute of the published topics and .pcd file connot be open.

[FPSychotic]

Hi, first thanks by share this fantastic work. I would like to use the launch's option to rename the topics directly with the name other packages are waiting, and it is nice like it is , only problem is the odometry node and its namespace addition will change the topics name to something the target package will not recognise, so it limit the usability of the topics rename option. Is there any way to remove the namespace option?
it is a minor issue for most cases, or even not a issue, at all, but can be a problem to use i.e. mavros.

Other issue is save the pointclouds, it works from rqt service caller changing the folder name in the name's field, but later I cannot visualise the pointcloud in Cloud compare or Metashape what makes a indication that the .pcd is not being made correctly. Maybe is just my setup, if it works for you for sure it will work for anyone, I'm using a pointcloud conversion, maybe is that.

As improvements and as you use in real robots, I would ask by a ground true topic and publish a path topic for odometry and ground true.

The performance is fantastic in real rover with a Celeron 4 cores 2Ghz, just brilliant. Congratulations.
God bless you all by share knowledge.