Update odometry implementation in diff_drive

[Amronos]

Fixes #271.
Fixes #357.

I have updated the odometry implementation of the diff_drive_controller to fix the above two issues alongside improving the code's readability. This implementation is similar to that of omni_wheel_drive_controller.
I have created some new methods and deprecated the older ones.

Should I also make similar changes to other controllers? If yes, should I do that in a separate PR?

[codecov]

Codecov Report

❌ Patch coverage is 79.71014% with 14 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.10%. Comparing base (c38468c) to head (e28abfa).

Files with missing lines	Patch %	Lines
...iff_drive_controller/src/diff_drive_controller.cpp	80.00%	4 Missing and 3 partials ⚠️
diff_drive_controller/src/odometry.cpp	79.41%	6 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1854      +/-   ##
==========================================
- Coverage   85.32%   85.10%   -0.22%     
==========================================
  Files         143      143              
  Lines       13934    13968      +34     
  Branches     1201     1204       +3     
==========================================
- Hits        11889    11888       -1     
- Misses       1638     1673      +35     
  Partials      407      407              

Flag	Coverage Δ
unittests	85.10% <79.71%> (-0.22%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...troller/include/diff_drive_controller/odometry.hpp	100.00% <ø> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	83.00% <80.00%> (+0.32%)	⬆️
diff_drive_controller/src/odometry.cpp	50.90% <79.41%> (-25.41%)	⬇️

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[christophfroehlich]

Let's discuss my points first, and merge the outcome. If necessary, let's open a new PR afterwards for the other controllers.

[Amronos]

Sorry for the delay in fixing the failing checks here! I was busy shifting Linux distros and had tried to make the commits that caused the checks to fail through the web.

[christophfroehlich]

Still not sure about the tryUpdateOpenLoop method, maybe @saikishor or anyone else has an opinion about that.

[Amronos]

@christophfroehlich pre-commit isn't working for me for some reason, but besides that I have made the changed you requested. If possible, could you clone the pr, and push a fix for the pre-commit? Thanks!

[mergify]

This pull request is in conflict. Could you fix it @Amronos?

[Amronos]

Sorry for the delay on this! All requested changes have been made now, please review!

[christophfroehlich]

Thanks for your patience. This is almost good to be merged, two minor comments only

[christophfroehlich]

Thanks for the latest cleanup! LGTM