feat(deviation_estimator): use yaw stddev instead of max for stddev gyro

[kminoda]

Description

For IMU link standard deviation, we would like to use yaw standard deviation in base_link for all the three axes.

This is because the standard deviation estimation of x and y in base_link may not be accurate especially when the data contains a motion when the people are getting on/off the vehicle, which causes the vehicle to tilt in roll and pitch. In this case, we would like to use the standard deviation of yaw axis in base_link.

For instance, the original algorithm caused a very large standard deviation for stddev_angular_*, e.g. 0.9[rad/s], possible due to the tilting motion of the vehicle when the vehicle is stopped.
With this PR, the estimated value is now around 0.006 [rad/s] for the same rosbag, which is closer to it's real standard deviation apparently from the plot.

Related links

None

Tests performed

Tested on our calibration data.

Notes for reviewers

None

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[codecov-commenter]

Codecov Report

Attention: 1 lines in your changes are missing coverage. Please review.

Comparison is base (5035f8e) 0.95% compared to head (0df824c) 18.87%.

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Additional details and impacted files

@@                 Coverage Diff                 @@
##           tier4/universe     #140       +/-   ##
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+ Coverage            0.95%   18.87%   +17.91%     
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  Files                 269       14      -255     
  Lines               20911      551    -20360     
  Branches              390      301       -89     
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- Hits                  200      104       -96     
+ Misses              20554      369    -20185     
+ Partials              157       78       -79     

Flag	Coverage Δ
differential	18.87% <0.00%> (?)
total	?

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Files	Coverage Δ
...ls/deviation_estimator/src/deviation_estimator.cpp	7.52% <0.00%> (+0.11%)	⬆️

... and 255 files with indirect coverage changes

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