Fix steering controllers library code documentation and naming (backport #1149)

[mergify[bot]]

A follow-up to #1118, using consistent nomenclature introduced in #954

My commits do not change any logic or behavior, just make the code more readable.

---

This is an automatic backport of pull request #1149 done by Mergify.

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 74.35897% with 20 lines in your changes missing coverage. Please review.

Project coverage is 86.92%. Comparing base (94149be) to head (576fafb). Report is 1 commits behind head on iron.

Additional details and impacted files

```diff @@ Coverage Diff @@ ## iron #1165 +/- ## ========================================== + Coverage 86.67% 86.92% +0.25% ========================================== Files 86 86 Lines 7412 7401 -11 Branches 612 611 -1 ========================================== + Hits 6424 6433 +9 + Misses 759 740 -19 + Partials 229 228 -1 ``` | [Flag](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1165/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls) | Coverage Δ | | |---|---|---| | [unittests](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1165/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls) | `86.92% <74.35%> (+0.25%)` | :arrow_up: | Flags with carried forward coverage won't be shown. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#carryforward-flags-in-the-pull-request-comment) to find out more. | [Files](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1165?dropdown=coverage&src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls) | Coverage Δ | | |---|---|---| | [...g\_controller/src/ackermann\_steering\_controller.cpp](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1165?src=pr&el=tree&filepath=ackermann_steering_controller%2Fsrc%2Fackermann_steering_controller.cpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-YWNrZXJtYW5uX3N0ZWVyaW5nX2NvbnRyb2xsZXIvc3JjL2Fja2VybWFubl9zdGVlcmluZ19jb250cm9sbGVyLmNwcA==) | `80.00% <100.00%> (ø)` | | | [...steering\_controllers\_library/steering\_odometry.hpp](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1165?src=pr&el=tree&filepath=steering_controllers_library%2Finclude%2Fsteering_controllers_library%2Fsteering_odometry.hpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-c3RlZXJpbmdfY29udHJvbGxlcnNfbGlicmFyeS9pbmNsdWRlL3N0ZWVyaW5nX2NvbnRyb2xsZXJzX2xpYnJhcnkvc3RlZXJpbmdfb2RvbWV0cnkuaHBw) | `100.00% <ø> (ø)` | | | [...ng\_controller/src/tricycle\_steering\_controller.cpp](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1165?src=pr&el=tree&filepath=tricycle_steering_controller%2Fsrc%2Ftricycle_steering_controller.cpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-dHJpY3ljbGVfc3RlZXJpbmdfY29udHJvbGxlci9zcmMvdHJpY3ljbGVfc3RlZXJpbmdfY29udHJvbGxlci5jcHA=) | `78.57% <100.00%> (ø)` | | | [...ing\_controller/src/bicycle\_steering\_controller.cpp](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1165?src=pr&el=tree&filepath=bicycle_steering_controller%2Fsrc%2Fbicycle_steering_controller.cpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-YmljeWNsZV9zdGVlcmluZ19jb250cm9sbGVyL3NyYy9iaWN5Y2xlX3N0ZWVyaW5nX2NvbnRyb2xsZXIuY3Bw) | `75.00% <75.00%> (ø)` | | | [...ring\_controllers\_library/src/steering\_odometry.cpp](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1165?src=pr&el=tree&filepath=steering_controllers_library%2Fsrc%2Fsteering_odometry.cpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-c3RlZXJpbmdfY29udHJvbGxlcnNfbGlicmFyeS9zcmMvc3RlZXJpbmdfb2RvbWV0cnkuY3Bw) | `73.79% <70.76%> (+4.76%)` | :arrow_up: | ... and [3 files with indirect coverage changes](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1165/indirect-changes?src=pr&el=tree-more&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls)