Steering odometry library and controllers (backport #484)

[mergify]

This is an automatic backport of pull request #484 done by Mergify.

---

Mergify commands and options

More conditions and actions can be found in the documentation.

You can also trigger Mergify actions by commenting on this pull request:

• @Mergifyio refresh will re-evaluate the rules
• @Mergifyio rebase will rebase this PR on its base branch
• @Mergifyio update will merge the base branch into this PR
• @Mergifyio backport <destination> will backport this PR on <destination> branch

Additionally, on Mergify dashboard you can:

• look at your merge queues
• generate the Mergify configuration with the config editor.

Finally, you can contact us on https://mergify.com

[bmagyar]

I have PTSD from the original PR, not touching this for a while :D

[ARK3r]

changing rcpputils to rcppmath resolves this issue however it seems that in rolling rcppmath is deprecated in favour of rcpputils.

So the question is, should we have rcpputils backport the deprecation so we can have a similar codebase between humble and iron, or should i just request a merge for this fix?

[destogl]

changing rcpputils to rcppmath resolves this issue however it seems that in rolling rcppmath is deprecated in favour of rcpputils.

This is targeting humble so it is fine to chnage this.

[ARK3r]

#637

[ARK3r]

So regarding the update_reference_from_subscribers error, ChainableControllerInterface defines update_reference_from_subscribers without any args whereas in the humble definition we have with time and duration.

[destogl]

@ARK3r this might solve it. I didn't compile locally, but the changes were rather trivial

[ARK3r]

I'll test it in an hour and let you know.

[destogl]

@ARK3r I think I fixed everything. If you have time please confirm and we can merge this

[ARK3r]

I'll build it rn.

[ARK3r]

@destogl my demo is building and working as it did on rolling! 🥳🥳

also sorry about the delay, my build had issues...