AP_DDS: Visual Odom wrong ENU -> NED transformation

[lrabius]

Bug report

Issue details

When using visual odometry with ROS 2 the local pose reported to the ardupilot EKF and shown in the mavproxy map isn't correct. When guiding the copter north with the mavlink message SET_POSITION_TARGET_LOCAL_NED from the mavproxy console the copter flies on the x-axis in ROS which is east and the local pose on the mavproxy map is also going east, while the GPS pose on the map is correctly going north. The local pose there seems to be rotated by 90 degree, but I would expect both to be nearly the same. Also the position and orientation on the ROS topic /ap/pose/filtered reported from the ardupilot EKF isn't the same as the input from the tf tree of gazebo (e.g. orientation rotated by 90 degree). It seems that the ENU -> NED transformation here is the problem and maybe it is also related to an error mentioned here.

Version
master, 4.5

Platform
[ ] All
[ ] AntennaTracker
[ x ] Copter
[ ] Plane
[ ] Rover
[ ] Submarine

Airframe type
Quadcopter (Iris)

Hardware type
What autopilot hardware was used? (Pixhawk, Cube, Pixracer, Navio2, etc)
No hardware, SITL, ROS humble