steering_controllers_library: Add reduce_wheel_speed_until_steering_reached parameter (backport #1314)

[mergify]

Some features are missing in the library to feature-equally integrate the older tricycle_controller (#850).

reduce_wheel_speed_until_steering_reached is one step closer.

The old code

ros2_controllers/tricycle_controller/src/tricycle_controller.cpp

Lines 173 to 189 in 97c1e24

	// Reduce wheel speed until the target angle has been reached
	double alpha_delta = abs(alpha_write - alpha_read);
	double scale;
	if (alpha_delta < M_PI / 6)
	{
	scale = 1;
	}
	else if (alpha_delta > M_PI_2)
	{
	scale = 0.01;
	}
	else
	{
	// TODO(anyone): find the best function, e.g convex power functions
	scale = cos(alpha_delta);
	}
	Ws_write *= scale;

I modified the function a bit to be continuously differentiable

This breaks ABI of the odometry class, but I don't think that lots of people use this directly without the derived controllers.

---

This is an automatic backport of pull request #1314 done by Mergify.

[mergify]

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Changes to be committed:
	modified:   steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
	modified:   steering_controllers_library/src/steering_controllers_library.yaml
	modified:   steering_controllers_library/src/steering_odometry.cpp
	modified:   steering_controllers_library/test/test_steering_odometry.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   doc/release_notes.rst
	both modified:   steering_controllers_library/src/steering_controllers_library.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[codecov]

Codecov Report

Attention: Patch coverage is 70.83333% with 35 lines in your changes missing coverage. Please review.

Project coverage is 66.75%. Comparing base (e6b00e1) to head (badfa81).
Report is 1 commits behind head on humble.

Files with missing lines	Patch %	Lines
...ontrollers_library/test/test_steering_odometry.cpp	67.59%	0 Missing and 35 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1429      +/-   ##
==========================================
+ Coverage   66.71%   66.75%   +0.04%     
==========================================
  Files         113      113              
  Lines       13219    13335     +116     
  Branches     8153     8241      +88     
==========================================
+ Hits         8819     8902      +83     
  Misses       1442     1442              
- Partials     2958     2991      +33     

Flag	Coverage Δ
unittests	66.75% <70.83%> (+0.04%)	⬆️

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% <ø> (ø)
...llers_library/src/steering_controllers_library.cpp	70.99% <100.00%> (+0.11%)	⬆️
...ring_controllers_library/src/steering_odometry.cpp	82.77% <100.00%> (+0.90%)	⬆️
...ontrollers_library/test/test_steering_odometry.cpp	67.02% <67.59%> (+1.11%)	⬆️