Add calibration possibility to IMU broadcaster

[christophfroehlich]

Similar to multiplier+offset of the FTS broadcaster, I changed the IMU broadcaster to

• a chainable controller, exporting the fields of the message as state interfaces
• apply a calibration of the IMU, to be configured as a roll-pitch-yaw orientation from parameters

I used the method from imu_pipeline, but copied it over to avoid pulling in another dependency. If you prefer, I could do and use a tf2 transform instead of Eigen quaternion to save the calibrated orientation.

[codecov]

Codecov Report

❌ Patch coverage is 95.81152% with 8 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.25%. Comparing base (3a3e69f) to head (a99feca).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
..._sensor_broadcaster/src/imu_sensor_broadcaster.cpp	89.13%	3 Missing and 2 partials ⚠️
...r/include/imu_sensor_broadcaster/imu_transform.hpp	90.32%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1833      +/-   ##
==========================================
+ Coverage   85.12%   85.25%   +0.13%     
==========================================
  Files         138      140       +2     
  Lines       13547    13722     +175     
  Branches     1188     1191       +3     
==========================================
+ Hits        11532    11699     +167     
- Misses       1620     1626       +6     
- Partials      395      397       +2     

Flag	Coverage Δ
unittests	85.25% <95.81%> (+0.13%)	⬆️

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

Files with missing lines	Coverage Δ
...r_broadcaster/test/test_imu_sensor_broadcaster.cpp	97.00% <100.00%> (+1.28%)	⬆️
imu_sensor_broadcaster/test/test_imu_transform.cpp	100.00% <100.00%> (ø)
...r/include/imu_sensor_broadcaster/imu_transform.hpp	90.32% <90.32%> (ø)
..._sensor_broadcaster/src/imu_sensor_broadcaster.cpp	85.00% <89.13%> (-0.11%)	⬇️

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[saikishor]

In general, looks great

Amazing job as always @christophfroehlich

[saikishor]

LGTM