Update odometry implementation in diff_drive

[Amronos]

Fixes #271.
Fixes #357.

I have updated the odometry implementation of the diff_drive_controller to fix the above two issues alongside improving the code's readability. This implementation is similar to that of omni_wheel_drive_controller.
I have created some new methods and deprecated the older ones.

Should I also make similar changes to other controllers? If yes, should I do that in a separate PR?

[codecov]

Codecov Report

❌ Patch coverage is 79.72973% with 15 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.75%. Comparing base (a01fd0b) to head (fe3a568).

Files with missing lines	Patch %	Lines
diff_drive_controller/src/odometry.cpp	76.31%	8 Missing and 1 partial ⚠️
...iff_drive_controller/src/diff_drive_controller.cpp	83.33%	4 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1854      +/-   ##
==========================================
- Coverage   85.98%   85.75%   -0.24%     
==========================================
  Files         129      129              
  Lines       13112    13150      +38     
  Branches     1144     1148       +4     
==========================================
+ Hits        11275    11277       +2     
- Misses       1469     1506      +37     
+ Partials      368      367       -1     

Flag	Coverage Δ
unittests	85.75% <79.72%> (-0.24%)	⬇️

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Files with missing lines	Coverage Δ
...troller/include/diff_drive_controller/odometry.hpp	100.00% <ø> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	83.22% <83.33%> (+0.64%)	⬆️
diff_drive_controller/src/odometry.cpp	50.87% <76.31%> (-25.44%)	⬇️

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