sensors: create vehicle_accelerometer module

[dagar]

Builds on #12596.

This adds a high rate, low latency, vehicle body frame, filtered, bias corrected acceleration for use in various controllers throughout the code base. The structure is analogous to vehicle_angular_velocity.

[jlecoeur]

bike shedding: the name is not coherent with other similar topics (vehicle_local_position, vehicle_attitude, vehicle_angular_velocity).

vehicle_acceleration is more coherent.

[jlecoeur]

Option A:
module VehicleAcceleration -> topic vehicle_acceleration
module VehicleAngularVelocity -> topic vehicle_angular_velocity

Option B:
module VehicleAccelerometer -> topic vehicle_acceleration
module VehicleGyroscope -> topic vehicle_angular_velocity

[dagar]

I agree, but I didn't want to cause confusion with vehicle acceleration not including gravity.

[dagar]

I've applied most of your suggestions, including renaming to vehicle_acceleration with a mention of gravity in the comment. The goal of the original naming (vehicle_accelerometer) was to try and prevent potential confusion. Thoughts?

[jlecoeur]

I agree that it can get confusing. There are three different things people may want: measured acceleration (body frame, including gravity), body linear acceleration (body frame, excluding gravity) and linear acceleration (ground frame, excluding gravity, aka derivative of NED velocity). Finding unambiguous names is difficult here. At least the comment in the message definition is clear.