Fixed Odometry Publisher Angular Velocity Singularity in 3D #2348
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馃 Bug fix
Fixes #2347
Summary
The angular velocity was calculated using euler angles which led to singularities (see #2347 for a more detailed description). In addition to the fix, I also removed the usage of the rolling mean accumulator for angular velocity. While I see its usefulness for outlier rejections, I still didn't really see why this would be necessary. If the maintainers want to keep this mean accumulator, I'll be happy to reimplement it. Also the commit changes seem a bit messy, I was using clang format with the Google C++ Style guide as configuration, which leaded to the changed formatting that you can see in the pull request.
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