Orientation of robot in odom frame

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Hi,

I am running a simulation in gazebo with the jackal as my robot. I set the initial orientation by setting the following values in the quaternion for gazebo model states:

void Initialise(gazebo_msgs::ModelState &msg_value) {

msg_value.pose.position.x = 0.0;
msg_value.pose.position.y = 0.0;
msg_value.pose.position.z = 0.0;
msg_value.pose.orientation.x = 0.0;
msg_value.pose.orientation.y = 0.0;
msg_value.pose.orientation.z = 0.7; 
msg_value.pose.orientation.w = 0.7;
msg_value.model_name = "jackal";

}

The twist message values are as follows: geometry_msgs::Twist msg; msg.linear.x = abs(speed) --> speed increases from 0.0 to 2.0 and stays there.

When I run this simulation, the jackal faces north (90 degrees from its usual initial position) and moves in a straightline. The gazebo co-ordinates for the jackal show the y position increasing which is what I expected. However, the odometry positions obtained from subscribing to "nav_msgs::Odometry" show the x position increasing. This tells me that the odometry frame has not rotated by 90 degrees.

How can I rotate the odometry frame to rotate by 90 degrees and stay like that for the experiment just like the gazebo frame?

Please help.

Regards, rsmitha.