feat: added deviation_estimator unit_tool

Description

I created a unit tool of deviation_estimator that loads rosbag and performs calibration.

Context

The current deviation_estimator is implemented as a ros2 node, so it takes the same amount of time as the rosbag used for calibration.

Also, since it is a ros2 node, there is a problem that slight variations occur depending on the execution, making it impossible to reproduce same results.

By implementing it as a unit tool that directly loads rosbag, it runs in seconds and deterministically.

I think migration (removal of ros2 node version and rewriting of README) will be done in another PR in the future.

Tests performed

I ran deviation_estimator on several rosbags and confirmed that results close to conventional ones were obtained.

Example

as a ros2 node

# Estimated by deviation_estimator
/**:
  ros__parameters:
    angular_velocity_offset_x: -0.00030
    angular_velocity_offset_y: -0.00238
    angular_velocity_offset_z: 0.00599
    angular_velocity_stddev_xx: 0.00596
    angular_velocity_stddev_yy: 0.00596
    angular_velocity_stddev_zz: 0.00596
# Estimated by deviation_estimator
/**:
  ros__parameters:
    speed_scale_factor: 0.99283
    velocity_stddev_xx: 0.59143
    angular_velocity_stddev_zz: 0.1 # Default value
    frame_id: base_link # Default value

as a unit tool

# Estimated by deviation_estimator
/**:
  ros__parameters:
    angular_velocity_offset_x: -0.00033
    angular_velocity_offset_y: -0.00241
    angular_velocity_offset_z: 0.00594
    angular_velocity_stddev_xx: 0.00673
    angular_velocity_stddev_yy: 0.00673
    angular_velocity_stddev_zz: 0.00673
# Estimated by deviation_estimator
/**:
  ros__parameters:
    speed_scale_factor: 0.99414
    velocity_stddev_xx: 0.49194
    angular_velocity_stddev_zz: 0.1 # Default value
    frame_id: base_link # Default value

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Codecov Report

Attention: 185 lines in your changes are missing coverage. Please review.

Comparison is base (6af0d0d) 0.94% compared to head (9dc9794) 14.09%.

Files	Patch %	Lines
...viation_estimator/src/deviation_estimator_main.cpp	0.00%	185 Missing :warning:

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Additional details and impacted files

```diff @@ Coverage Diff @@ ## tier4/universe #149 +/- ## =================================================== + Coverage 0.94% 14.09% +13.14% =================================================== Files 269 15 -254 Lines 21149 738 -20411 Branches 383 297 -86 =================================================== - Hits 200 104 -96 + Misses 20792 556 -20236 + Partials 157 78 -79 ``` | [Flag](https://app.codecov.io/gh/tier4/CalibrationTools/pull/149/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | Coverage Δ | | |---|---|---| | [differential](https://app.codecov.io/gh/tier4/CalibrationTools/pull/149/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | `14.09% <0.00%> (?)` | | | [total](https://app.codecov.io/gh/tier4/CalibrationTools/pull/149/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | `?` | | 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=tier4#carryforward-flags-in-the-pull-request-comment) to find out more.

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