WIP: Add AckermannDriveStamped control to steering library

[wittenator]

This PR adds the option to use steering angle and linear velocity for controllers that inherit from the steering library. In anticipation of the merging and backport of the fixes in the ackermann controller, I branched off of the fix/steering_controllers_library_kinematics branch and cherry-picked the changes on top of the iron branch.

Status:

• Fork the repository.
• Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
• Ensure local tests pass. (colcon test and pre-commit run (requires you to install pre-commit by pip3 install pre-commit)
• Commit to your fork using clear commit messages.
• Send a pull request, answering any default questions in the pull request interface.
• Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

[mergify]

@wittenator, all pull requests must be targeted towards the master development branch.
Once merged into master, it is possible to backport to iron, but it must be in master
to have these changes reflected into new distributions.

[wittenator]

Ah hmm, I can't move our software stack to Jazzy (due to Nvidia dependencies) and therefore have to develop these changes on Iron. Should I develop the feature completely on Iron and then cherry-pick the changes on top of the master? The drawback is that I can't really test in on the master besides a few unit tests maybe.

[christophfroehlich]

Let's merge #1150 first, and then proceed with this one here. Could you please review it and give your feedback (Files changed -> Review changes)?

[mergify]

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

[mergify]

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

[christophfroehlich]

@wittenator is this WIP or ready for review?

[codecov]

Codecov Report

Attention: Patch coverage is 22.72727% with 51 lines in your changes missing coverage. Please review.

Project coverage is 86.83%. Comparing base (c824345) to head (12d3fa3).

Additional details and impacted files

@@            Coverage Diff             @@
##             iron    #1171      +/-   ##
==========================================
- Coverage   87.30%   86.83%   -0.48%     
==========================================
  Files          92       92              
  Lines        8408     8449      +41     
  Branches      701      711      +10     
==========================================
- Hits         7341     7337       -4     
- Misses        812      852      +40     
- Partials      255      260       +5     

Flag	Coverage Δ
unittests	86.83% <22.72%> (-0.48%)	⬇️

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

Files	Coverage Δ
...steering_controllers_library/steering_odometry.hpp	100.00% <ø> (ø)
...g_controller/src/ackermann_steering_controller.cpp	80.00% <0.00%> (ø)
...ing_controller/src/bicycle_steering_controller.cpp	75.00% <0.00%> (ø)
...ng_controller/src/tricycle_steering_controller.cpp	78.57% <0.00%> (ø)
...ring_controllers_library/src/steering_odometry.cpp	80.12% <33.33%> (-1.29%)	⬇️
...llers_library/src/steering_controllers_library.cpp	63.34% <23.33%> (-10.83%)	⬇️

... and 3 files with indirect coverage changes

[christophfroehlich]

@wittenator please have a look at the failing pre-commit test, and add tests for your new feature because it is decreasing test coverage. Ping me again if you need guidance on how to write tests for the lib.