eskf with sensor concept, less states, and latest fixes from dev/auv-navigation-eskf

[AhmedBorch]

Hi, I did the following modifications:

• added the sensor concept requirements.
• removed gravity from the states because it doesn't change and computation would be faster without it -> reduced matrices sizes
• add the modifications from Talha's branch: naming convention, latest fixes, use of utils.
• changed the params (IMU is not rotated in the simulation)
• I had to add a .tpp file for the function template
• I used NDEBUG for publishing NIS, so it will only be published when building with debug flag.

btw I didn't branch from Talha's because I had already made lots of modifications, it was easier to implement the latest missing fixes from his branch in here, I hope this is okay:)

P.S:

• R is 0 (maybe I should add some values in the simulation)
• I will make a separate file to calculate errors and nees
• the S is very big in the beginning but then gets smaller, I will need to investigate this more (maybe have a big initial covariance)

[Andeshog]

Your branch is behind the main branch, and that is causing merge conflicts. Update that and make sure all tests pass 😄 Also, you could still change the target branch to Talha's branch so the PR can be continued there, but it probably doesnt matter if this is up to date.

[codecov]

Codecov Report

❌ Patch coverage is 0% with 173 lines in your changes missing coverage. Please review.
✅ Project coverage is 33.08%. Comparing base (24b00d6) to head (5975165).

Files with missing lines	Patch %	Lines
navigation/eskf/src/eskf.cpp	0.00%	84 Missing ⚠️
navigation/eskf/src/eskf_ros.cpp	0.00%	74 Missing ⚠️
navigation/eskf/include/eskf/eskf.tpp	0.00%	13 Missing ⚠️
navigation/eskf/include/eskf/typedefs.hpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #640      +/-   ##
==========================================
- Coverage   35.58%   33.08%   -2.50%     
==========================================
  Files          38       42       +4     
  Lines        2254     2427     +173     
  Branches      686      689       +3     
==========================================
+ Hits          802      803       +1     
- Misses       1273     1445     +172     
  Partials      179      179              

Flag	Coverage Δ
unittests	33.08% <0.00%> (-2.50%)	⬇️

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

Files with missing lines	Coverage Δ
navigation/eskf/include/eskf/typedefs.hpp	0.00% <0.00%> (ø)
navigation/eskf/include/eskf/eskf.tpp	0.00% <0.00%> (ø)
navigation/eskf/src/eskf_ros.cpp	0.00% <0.00%> (ø)
navigation/eskf/src/eskf.cpp	0.00% <0.00%> (ø)

... and 1 file with indirect coverage changes

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