feat(gyro_odometer, imu_corrector): add roll and pitch rate

[kminoda]

Related Issue(required)

Description(required)

I added roll and pitch rate in sensing/imu_corrector and localization/gyro_odometer.
You can now provide roll and pitch rate (as well as yaw rate) to ekf_localizer. Note that the current ekf_localizer does not use roll and pitch rate.

Review Procedure(required)

Change one of angular_velocity_offset_x, angular_velocity_offset_y, angular_velocity_stddev_xx_, or angular_velocity_stddev_xx_ in your imu_corrector.param.yaml file. Make sure that the output of imu_corrector (/sensing/imu/imu_data) and gyro_odometer (e.g. /localization/twist_estimator/twist_with_covariance) reflect the change.

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[codecov]

Codecov Report

Merging #407 (537b605) into main (1bab84e) will decrease coverage by 10.99%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #407       +/-   ##
==========================================
- Coverage   10.99%   0.00%   -11.00%     
==========================================
  Files         704       3      -701     
  Lines       49493     113    -49380     
  Branches     6647       0     -6647     
==========================================
- Hits         5440       0     -5440     
+ Misses      39693     113    -39580     
+ Partials     4360       0     -4360     

Impacted Files	Coverage Δ
...alization/gyro_odometer/src/gyro_odometer_core.cpp	0.00% <0.00%> (ø)
sensing/imu_corrector/src/imu_corrector_core.cpp	0.00% <0.00%> (ø)
..._simulator/test/test_simple_planning_simulator.cpp
...ware_utils/test/src/trajectory/test_trajectory.cpp
...to_geometry/include/geometry/bounding_box/lfit.hpp
...tier4_autoware_utils/trajectory/tmp_conversion.hpp
...ower_nodes/test/trajectory_follower_test_utils.hpp
...nner/scene_module/lane_change/lane_change_path.hpp
...alization/ekf_localizer/src/ekf_localizer_node.cpp
...ude/shape_estimation/corrector/truck_corrector.hpp
... and 693 more

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[YamatoAndo]

It worked as expected!

[YamatoAndo]

Could you add a description of the parameters to the readme?

[YamatoAndo]

@kminoda
Apply the covariance of roll rate and pitch rate.

autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp

Lines 105 to 107 in 706e6e7

	twist_with_covariance.twist.covariance[21] = 10000.0;
	twist_with_covariance.twist.covariance[28] = 10000.0;
	twist_with_covariance.twist.covariance[35] = imu_msg_ptr->angular_velocity_covariance[8];

[YamatoAndo]

autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp

Lines 99 to 101 in 706e6e7

	// NOTE
	// linear.y, linear.z, angular.x, and angular.y are not measured values.
	// Therefore, they should be assigned large variance values.

delete angular.x, and angular.y from this comment.