Initial back end Kalman filter support for odometry calculations
As we port over the CV odometry code onto the MCB side, we need the ability to build generic, multidimensional Kalman filters. On the CV side, this was supported by ROS, but there is no such support of the MCB. Start with understanding exactly how a Kalman filter works, and then try and build one in C++. There are a ton of resources online for learning about Kalman filters. When building the filter, if it is helpful, modm has a matrix math module that we might use. I'm not sure what they do is ultra-efficient, however, so you should look carefully into how matrices are constructed and how operations are performed before using this module.