Fix SteeringOdometry calculation error

[Narukara]

From ros-controls/gz_ros2_control#595

The current calculation method is an approximation for small angles, which can lead to significant errors. In fact, the exact algorithm is used in the other two implementations of update_from_velocity, and should be used here as well.

ros2_controllers/steering_controllers_library/src/steering_odometry.cpp

Line 129 in a88bf0a

const double angular_velocity = std::tan(steer_pos) * linear_velocity / wheel_base_;

ros2_controllers/steering_controllers_library/src/steering_odometry.cpp

Line 163 in a88bf0a

const double angular_velocity = std::tan(steer_pos_) * linear_velocity / wheel_base_;

ros2_controllers/steering_controllers_library/src/steering_odometry.cpp

Line 183 in a88bf0a

const double angular_velocity = steer_pos_ * linear_velocity / wheel_base_;

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[christophfroehlich]

Thanks, it seems that this was only partially fixed with #1117
I forgot that in #1150

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 86.38%. Comparing base (a88bf0a) to head (e2fc3cc).
Report is 1 commits behind head on master.

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #1777   +/-   ##
=======================================
  Coverage   86.38%   86.38%           
=======================================
  Files         123      123           
  Lines       12240    12240           
  Branches     1024     1024           
=======================================
  Hits        10574    10574           
  Misses       1348     1348           
  Partials      318      318           

Flag	Coverage Δ
unittests	86.38% <100.00%> (ø)

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

Files with missing lines	Coverage Δ
...ring_controllers_library/src/steering_odometry.cpp	83.42% <100.00%> (ø)

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