Change units of velocity feedback in diff_drive_controller #behaviour-change

[macstepien]

Closes #411
Adds multiplying velocity feedback by wheel radius. When the position_feedback option is used, feedback is multiplied by radius (it is expected to be in rad). This PR changes velocity feedback to be also multiplied by radius, so that units used will be more consistent.

[bmagyar]

Aka feedback is in m/s? Isn't there a 2* missing?

[macstepien]

On the current master branch velocity feedback has to be in m/s for it to work properly. After this change it will be in rad/s and by multiplying by radius it will be converted to m/s for proper handling in the updateFromVelocity function.

I think that it is correct, we multiply angular velocity by radius to get linear velocity. Am I missing any other reason why there should be 2*?

[codecov-commenter]

Codecov Report

Merging #452 (b98da97) into master (e7f9962) will decrease coverage by 6.07%.
The diff coverage is 20.15%.

@@            Coverage Diff             @@
##           master     #452      +/-   ##
==========================================
- Coverage   35.78%   29.70%   -6.08%     
==========================================
  Files         189        7     -182     
  Lines       17570      744   -16826     
  Branches    11592      429   -11163     
==========================================
- Hits         6287      221    -6066     
+ Misses        994      163     -831     
+ Partials    10289      360    -9929     

Flag	Coverage Δ
unittests	29.70% <20.15%> (-6.08%)	⬇️

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

Impacted Files	Coverage Δ
...de/diff_drive_controller/diff_drive_controller.hpp	100.00% <ø> (ø)
...ontroller/test/test_load_diff_drive_controller.cpp	12.50% <0.00%> (ø)
diff_drive_controller/src/odometry.cpp	42.16% <11.11%> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	17.62% <12.08%> (ø)
diff_drive_controller/src/speed_limiter.cpp	46.55% <13.33%> (ø)
...troller/include/diff_drive_controller/odometry.hpp	20.00% <20.00%> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	32.04% <24.01%> (ø)
...mand_controller/src/forward_command_controller.cpp
...ller/test/test_load_forward_command_controller.cpp
...ntroller/test/test_load_joint_state_controller.cpp
... and 192 more

[destogl]

Great!