fix: some fix on calibration_adapter and parameter_estimator

[KeiNakazato]

Description

By this change, calibration_adapter will translate VelocityReport received from the vehicle interface into TwistStamped. This value is necessary for parameter_estimator to work well. Also, in the parameter estimating algorithm, I adjusted plus or minus sign of z-angular velocity received from IMU.

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Notes for reviewers

Interface changes

Effects on system behavior

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[KeiNakazato]

In this commit, the TwistStamped published from calibration_adapter has the same value with the TwistStamped part of /sensing/vehicle_velocity_converter/twist_with_covariance published from /sensing/vehicle_velocity_converter (up to speed_scale_factor_ ). However, it is just a translation of /vehicle/status/velocity_status into TwistStamped type. Although I named the additional topic /calibration/vehicle/twist_status, the topic which parameter_estimator would subscribe was /vehicle/status/twist. So I wonder if it should have been modified such that the TwistStamped is directly published from /autoware_advc_interface... .

[Owen-Liuyuxuan]

I notice that there is a DCO error in the CI checks. Please follow https://github.com/autowarefoundation/autoware_tools/pull/127/checks?check_run_id=30904049078 and tackle with the errors.

[Owen-Liuyuxuan]

Why are we changing the name of this class, is it necessary? Or you believe it is better to be called "velocityReport"

[KeiNakazato]

At that time I intended to follow the manner of autoware_advc_interface where VelocityReport seems preferred, but I missed that it is of the same type with Velocity. So now the updated version has cancelled all the relevant changes to avoid unpredictable errors.

[Owen-Liuyuxuan]

This works as expected and keep consistent with original codes.