Add GNSS rotation heading bootstrap

[jkaflik]

Summary

This adds a GNSS rotation-based heading bootstrap for setups where the GPS/GNSS antenna is not mounted at base_link.

In my OpenMower setup the antenna has a lever arm relative to base_link, so robot rotation makes the antenna trace a small arc. The observed GNSS displacement, relative yaw from odometry/gyro, and configured lever arm can infer absolute heading before normal track-based heading is reliable.

Additional change:

  // Minimum forward speed to count as real motion
  // Below this threshold: could be GPS jitter, spinning in place, or sliding
  const double MIN_SPEED = 0.2;  // m/s

  // Maximum yaw rate: if spinning fast, heading is not observable from track
  const double MAX_YAW_RATE = 0.3;  // rad/s (~17 deg/s)

Is extracted into parameter. In my case, with RTK, GPS jitter is much less, so min speed threshold can be lowered down. Happy to extract it into a separate PR.

The PR also includes small ROS compatibility fixes needed in Jazzy. (should not be a part of this PR)

Status

This is WIP.

I have only done a quick/superficial validation in simulation so far. I have not yet tested this on real hardware in an outdoor environment. I plan to do that in the coming days.