Fix steering controllers library kinematics (backport #1150)

[mergify]

A follow-up of #1149 to fix bugs of the steering library, namely

• in open-loop mode, zero steering angle was used for IK calculation
  discussed in Add mobile robot kinematics 101 and improve steering library docs #954 (my fix breaks API of the library, but it had no information about open_loop. I could duplicate the get_commands() method to get_commands_open_loop(), but that would break ABI too?)
• wrong wheelspeed was used (traction on steering wheel, instead of other axle was assumed)
• Improve odometry of overdetermined measurements. use nonlinear dependency from wheel speed to calculate linear velocity (ideal) vs the old linear average:
  

This should finally fix #937 #933 and #789

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This is an automatic backport of pull request #1150 done by Mergify.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 86.67%. Comparing base (485c561) to head (eb2bb6d).

Additional details and impacted files

@@            Coverage Diff             @@
##             iron    #1195      +/-   ##
==========================================
+ Coverage   86.42%   86.67%   +0.24%     
==========================================
  Files          91       91              
  Lines        7875     7932      +57     
  Branches      690      687       -3     
==========================================
+ Hits         6806     6875      +69     
+ Misses        819      813       -6     
+ Partials      250      244       -6     

Flag	Coverage Δ
unittests	86.67% <100.00%> (+0.24%)	⬆️

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

Files	Coverage Δ
...roller/test/test_ackermann_steering_controller.cpp	100.00% <ø> (ø)
...ntroller/test/test_bicycle_steering_controller.cpp	100.00% <100.00%> (ø)
...steering_controllers_library/steering_odometry.hpp	100.00% <100.00%> (ø)
...llers_library/src/steering_controllers_library.cpp	74.16% <100.00%> (ø)
...ring_controllers_library/src/steering_odometry.cpp	81.41% <100.00%> (+7.61%)	⬆️
...ontrollers_library/test/test_steering_odometry.cpp	100.00% <100.00%> (ø)
...troller/test/test_tricycle_steering_controller.cpp	100.00% <ø> (ø)

... and 3 files with indirect coverage changes