Fix correct usage of angular velocity in update_odometry() function (backport #1118)

[mergify]

Thanks for this nice steering_controllers_library!

Using it however, we noticed issues in the odometry calculation where our steered robot would spin incredibly fast.
There seems a small math error in the calculation which this PR fixes:
The integration expects distances and angles, while the accumulators expect a velocity.

Probably also relates to #937

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This is an automatic backport of pull request #1118 done by [Mergify](https://mergify.com).

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 86.50%. Comparing base (11e8ad7) to head (4b26290).

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1153      +/-   ##
==========================================
- Coverage   86.81%   86.50%   -0.32%     
==========================================
  Files          86       86              
  Lines        7486     7497      +11     
  Branches      619      619              
==========================================
- Hits         6499     6485      -14     
- Misses        753      777      +24     
- Partials      234      235       +1     

Flag	Coverage Δ
unittests	86.50% <100.00%> (-0.32%)	⬇️

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

Files	Coverage Δ
...ring_controllers_library/src/steering_odometry.cpp	69.03% <100.00%> (ø)
...ontrollers_library/test/test_steering_odometry.cpp	100.00% <100.00%> (ø)

... and 5 files with indirect coverage changes