[ROS2][feat] Update wheel encoder

Goal

Update wheel encoder handling using this ROS1 MRs :

• !323 (merged)
• !331 (merged)
• !336 (merged)

Results

Commands to reproduce the results

Data

OS-128 fast-filtered

Parameters

• external_sensors:
  • wheel_encoder:
    • enable: true
    • relative: true
    • weight: 1000.
• slam:
  • ke
    • input_sampling_ratio: 0.25

Commands

ros2 launch lidar_slam slam_ouster.py outdoor:=false

ros2 bag play --clock -d 2 path/to/fast-filtered --remap /wire_converted:=wheel_odom /lidar_points:=/ouster/points

Results

See MR desc