Integrate tricycle_controller into steering_controller_library

[christophfroehlich]

Closes #850

[codecov]

Codecov Report

Attention: Patch coverage is 76.19048% with 10 lines in your changes missing coverage. Please review.

Project coverage is 85.67%. Comparing base (dc53641) to head (7c9366c).
Report is 45 commits behind head on master.

Files with missing lines	Patch %	Lines
...llers_library/src/steering_controllers_library.cpp	33.33%	7 Missing and 1 partial ⚠️
...ring_controllers_library/src/steering_odometry.cpp	86.66%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1695      +/-   ##
==========================================
- Coverage   85.69%   85.67%   -0.03%     
==========================================
  Files         123      123              
  Lines       11896    11928      +32     
  Branches     1015     1015              
==========================================
+ Hits        10194    10219      +25     
- Misses       1379     1387       +8     
+ Partials      323      322       -1     

Flag	Coverage Δ
unittests	85.67% <76.19%> (-0.03%)	⬇️

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

Files with missing lines	Coverage Δ
...steering_controllers_library/steering_odometry.hpp	100.00% <100.00%> (ø)
...ontrollers_library/test/test_steering_odometry.cpp	100.00% <100.00%> (ø)
tricycle_controller/src/tricycle_controller.cpp	66.80% <ø> (ø)
...ng_controller/src/tricycle_steering_controller.cpp	61.11% <ø> (ø)
...ring_controllers_library/src/steering_odometry.cpp	82.60% <86.66%> (-0.82%)	⬇️
...llers_library/src/steering_controllers_library.cpp	69.78% <33.33%> (-0.59%)	⬇️

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[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[Ishan1923]

Hi @christophfroehlich ,

I noticed that Issue #2042 (updating odometry for tricycle) is currently blocked pending the completion of this integration.

I am very interested in picking up this architectural migration, especially after my recent deep dive into the steering_controllers_library (fixing the open-loop timeout behavior).

Would you be open to me taking over this PR? :)

I can:

• Rebase the branch and resolve the current merge conflicts.
• Ensure the tricycle kinematics are correctly migrated into steering_kinematics.cpp.
• Add the necessary tests to the library to verify the new mode.

Please let me know if I should work off a fork of this branch or start fresh!

[mergify]

This pull request is in conflict. Could you fix it @christophfroehlich?