Fix correct usage of angular velocity in update_odometry() function (backport #1118)

[mergify]

Thanks for this nice steering_controllers_library!

Using it however, we noticed issues in the odometry calculation where our steered robot would spin incredibly fast.
There seems a small math error in the calculation which this PR fixes:
The integration expects distances and angles, while the accumulators expect a velocity.

Probably also relates to #937

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This is an automatic backport of pull request #1118 done by [Mergify](https://mergify.com).

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 86.67%. Comparing base (cb40e0b) to head (e587218).

Additional details and impacted files

@@            Coverage Diff             @@
##             iron    #1154      +/-   ##
==========================================
+ Coverage   86.47%   86.67%   +0.20%     
==========================================
  Files          86       86              
  Lines        7399     7413      +14     
  Branches      612      614       +2     
==========================================
+ Hits         6398     6425      +27     
+ Misses        773      758      -15     
- Partials      228      230       +2     

Flag	Coverage Δ
unittests	86.67% <100.00%> (+0.20%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
...ring_controllers_library/src/steering_odometry.cpp	69.03% <100.00%> (ø)
...ontrollers_library/test/test_steering_odometry.cpp	100.00% <100.00%> (ø)

... and 4 files with indirect coverage changes