feat(deviation_estimator): add convergence validation

[kminoda]

Signed-off-by: kminoda koji.minoda@tier4.jp

Description

I added a convergence validation. Now the output of deviation_estimator will look like this:

# Results expressed in base_link
# Copy the following to deviation_evaluator.param.yaml
stddev_vx: 0.18433
stddev_wz: 0.01797
coef_vx: 0.99539
bias_wz: -0.00626

# Results expressed in imu_link
# Copy the following to imu_corrector.param.yaml
angular_velocity_stddev_xx: 0.01797
angular_velocity_stddev_yy: 0.01797
angular_velocity_stddev_zz: 0.01797
angular_velocity_offset_x: -0.00952
angular_velocity_offset_y: -0.00095
angular_velocity_offset_z: 0.00607

# Validation results
# value: [min, max]
[NG] coef_vx: Not enough data provided yet
[NG] stddev_vx: Not enough data provided yet
[OK] angular_velocity_offset_x: [-0.00955, -0.00952]
[OK] angular_velocity_offset_y: [-0.00095, -0.00091]
[OK] angular_velocity_offset_z: [0.00602, 0.00607]
[OK] angular_velocity_stddev_xx: [0.01797, 0.0184]
[OK] angular_velocity_stddev_yy: [0.01797, 0.0184]
[OK] angular_velocity_stddev_zz: [0.01797, 0.0184]

Related links

Tests performed

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