Update Odometry implementation in tricycle_controller

[kumar-sanjeeev]

This issue is part of the general roll-out suggested in #2039 to update odometry calculation across all controllers.

The tricycle_controller::Odometry needs to be updated to follow the updated API and integration style introduced in diff_drive_controller (PR #1854).

Related to #2033, which should be included here as well.

[thedevmystic]

Yes, tricycle controller's odometer hasn't been updated, as I see it.

[christophfroehlich]

I'm unsure if we should backport #1854. If not, then updating tricycle controller on rolling might not be necessary as per #1695

[kumar-sanjeeev]

I'm unsure if we should backport #1854. If not, then updating tricycle controller on rolling might not be necessary as per #1695

I agree. If the backporting of #1854 is uncertain, what do you think about this proposal:

if the goal is to unify the Odometry API across controllers, we can open a separate issue just to unify integrate_runge_kutta_2 and integrate_fk into intergate similar to #1854.