Omni wheel drive odometry update

[Devdoot57]

Description

This PR updates the omni_wheel_drive_controller odometry implementation to use double dt for integration instead of relying on rclcpp::Time (matching #1854). It also introduces a comprehensive gtest suite to verify the holonomic kinematics and integration math (matching #2099).

This rolls out the architectural improvements requested in #2039 for the omni-wheel base.

Changes:

• Odometry API: Deprecated updateFromPos, updateFromVel, and updateOpenLoop. Replaced with update_from_pos, update_from_vel, and try_update_open_loop.
• Controller Loop: Updated the main controller update to account for the above mentioned changes.
• Testing: Added test_odometry.cpp covering:
  • Independent holonomic Y and X movements.
  • Exact arc integration for simultaneous X, Y, and rotational velocities.
  • Boundary checks for small dt rejection.

[codecov]

Codecov Report

❌ Patch coverage is 86.36364% with 9 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.65%. Comparing base (6c1299f) to head (0f1d589).
⚠️ Report is 34 commits behind head on master.

Files with missing lines	Patch %	Lines
omni_wheel_drive_controller/src/odometry.cpp	80.64%	4 Missing and 2 partials ⚠️
...ive_controller/src/omni_wheel_drive_controller.cpp	25.00%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2286      +/-   ##
==========================================
- Coverage   84.72%   84.65%   -0.08%     
==========================================
  Files         153      154       +1     
  Lines       15362    15421      +59     
  Branches     1332     1334       +2     
==========================================
+ Hits        13016    13054      +38     
- Misses       1858     1878      +20     
- Partials      488      489       +1     

Flag	Coverage Δ
unittests	84.65% <86.36%> (-0.08%)	⬇️

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

Files with missing lines	Coverage Δ
...r/include/omni_wheel_drive_controller/odometry.hpp	100.00% <ø> (ø)
omni_wheel_drive_controller/test/test_odometry.cpp	100.00% <100.00%> (ø)
...ive_controller/src/omni_wheel_drive_controller.cpp	82.62% <25.00%> (-0.39%)	⬇️
omni_wheel_drive_controller/src/odometry.cpp	65.04% <80.64%> (-16.29%)	⬇️

... and 1 file with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[mergify]

This pull request is in conflict. Could you fix it @Devdoot57?