Initial front end port of ARUW odometry
Port over the odometry code that was previously written in python for the vision system. See aruw-vision-platform/aruw_odometry. In particular, be careful about what you port over and what you remove. There is a bit of weirdness that we can pretty easily clean up (for example, _handle_imu_wrapping
can be removed in favor of just using contiguous float calculations. Note that the odometry code on the Xavier is supported by ROS packages that contain things like Kalman filters. Building a configurable Kalman filter will be part of another issue, so don't worry about that part for now. Using placeholders where Kalman filters should go is fine. We will couple your work with someone who is designing a Kalman filter once both parts are independently complete.