Rotate dvl velocity to body frame

[joaobrittoneto]

Aggregate angular velocity.

[joaobrittoneto]

@saarnold, @doudou,
Any comment here?
May I merge this PR?

[saarnold]

Why not using the VelocityProvider from uwv_kalman_filters instead?
You don't align the streams and return in the update hook before reading all samples out. So you could end up applying old orientation or angular velocity measurements to the velocity measurements.

[joaobrittoneto]

My concern with the VelocityProvider is that it makes use of a model internally. The purpose of this component is the feed the model identification with velocities, and doing it with velocity provided by an internal model may be questionable.

So you could end up applying old orientation or angular velocity measurements to the velocity measurements.

I was expecting the sampling rate of the orientation and angular velocity to be way higher than the dvl. But I agree with you.