We had an issue (fixed with #1454) where the odometry was wrong in case of a reference timeout. There should be a test for this behavior, maybe in the test [test_both_update_methods_for_ref_timeout](https://github.com/ros-controls/ros2_controllers/blob/f23b7d833a41bff6e2125ff5243e0ed95133e6d8/steering_controllers_library/test/test_steering_controllers_library.cpp#L82)