Add curve_judgment_threshold in velocity scale factor estimator

[rsasaki0109]

• The current estimation of the velocity scale factor is not ideal as it also uses Doppler velocity during turns. Therefore, the estimation should use only the Doppler velocity when traveling below the curve_judgment_threshold [rad/sec].

• Even with the above adjustment, the instantaneous velocity scale factor can still sometimes produce abnormal values like 0.3 or 1.8. These values are clearly incorrect for a velocity scale factor and should be excluded as outliers.

• It seems that a curve judgment threshold of 0.02 rad/sec works well.

memo

• Introducing a new parameter may cause errors in existing YAML configurations, so be cautious. There are pros and cons to adding default parameters as well.

[rsasaki0109]

expriment
When the curve judgment threshold is 0.02 rad/sec

[velocity_scale_factor-3] [WARN] [1724929342.842129193] [velocity_scale_factor]: imu.angular_velocity.z: 0.001543
[velocity_scale_factor-3] [WARN] [1724929342.842187301] [velocity_scale_factor]: doppler_velocity: 0.014614
[velocity_scale_factor-3] [WARN] [1724929342.842194997] [velocity_scale_factor]: velocity: 0.130556
[velocity_scale_factor-3] [WARN] [1724929342.842199571] [velocity_scale_factor]: tmp_scale_factor: 0.111937
[velocity_scale_factor-3] [WARN] [1724929343.042700764] [velocity_scale_factor]: imu.angular_velocity.z: -0.000978
[velocity_scale_factor-3] [WARN] [1724929343.042894673] [velocity_scale_factor]: doppler_velocity: 0.009332
[velocity_scale_factor-3] [WARN] [1724929343.042929107] [velocity_scale_factor]: velocity: 0.072222
[velocity_scale_factor-3] [WARN] [1724929343.043032141] [velocity_scale_factor]: tmp_scale_factor: 0.129215
[velocity_scale_factor-3] [WARN] [1724929343.223617501] [velocity_scale_factor]: imu.angular_velocity.z: 0.000163
[velocity_scale_factor-3] [WARN] [1724929343.223710787] [velocity_scale_factor]: doppler_velocity: 0.022414
[velocity_scale_factor-3] [WARN] [1724929343.223736072] [velocity_scale_factor]: velocity: 0.016667
[velocity_scale_factor-3] [WARN] [1724929343.223754062] [velocity_scale_factor]: tmp_scale_factor: 1.344817
[velocity_scale_factor-3] [WARN] [1724929459.448917481] [velocity_scale_factor]: imu.angular_velocity.z: 0.001667
[velocity_scale_factor-3] [WARN] [1724929459.449003739] [velocity_scale_factor]: doppler_velocity: 1.943646
[velocity_scale_factor-3] [WARN] [1724929459.449033339] [velocity_scale_factor]: velocity: 1.997222
[velocity_scale_factor-3] [WARN] [1724929459.449055430] [velocity_scale_factor]: tmp_scale_factor: 0.973174

[rsasaki0109]

As this PR is not effective for the intended scene, I will close it for now.