Add omni_wheel_drive_controller (backport #1535)

[mergify]

This is a controller for mobile robots with omnidirectional drive. It supports using 3 or more omni wheels spaced at an equal angle from each other in a circular formation.

I have added many tests similar to other controllers and updated the docs.
Please review this controller and tell me if you have any doubts regarding its working.

I will be updating mobile_robot_kinematics.rst for the kinematics of this controller and for that wanted to ask what software has been used to make the diagrams in that doc. 😄

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This is an automatic backport of pull request #1535 done by Mergify.

[codecov]

Codecov Report

❌ Patch coverage is 92.06349% with 55 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.45%. Comparing base (d9b0c8d) to head (cc61b56).
⚠️ Report is 1 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
...ive_controller/src/omni_wheel_drive_controller.cpp	86.38%	18 Missing and 14 partials ⚠️
...ntroller/test/test_omni_wheel_drive_controller.hpp	85.71%	10 Missing and 3 partials ⚠️
omni_wheel_drive_controller/src/odometry.cpp	85.91%	9 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #1836      +/-   ##
==========================================
+ Coverage   85.07%   85.45%   +0.37%     
==========================================
  Files         127      133       +6     
  Lines       12304    12996     +692     
  Branches     1043     1128      +85     
==========================================
+ Hits        10468    11106     +638     
- Misses       1497     1534      +37     
- Partials      339      356      +17     

Flag	Coverage Δ
unittests	85.45% <92.06%> (+0.37%)	⬆️

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

Files with missing lines	Coverage Δ
...r/include/omni_wheel_drive_controller/odometry.hpp	100.00% <100.00%> (ø)
...ler/test/test_load_omni_wheel_drive_controller.cpp	100.00% <100.00%> (ø)
...ntroller/test/test_omni_wheel_drive_controller.cpp	100.00% <100.00%> (ø)
omni_wheel_drive_controller/src/odometry.cpp	85.91% <85.91%> (ø)
...ntroller/test/test_omni_wheel_drive_controller.hpp	85.71% <85.71%> (ø)
...ive_controller/src/omni_wheel_drive_controller.cpp	86.38% <86.38%> (ø)

... and 1 file with indirect coverage changes

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