Fix navigation ESKF mathematics and ROS contracts

[ApatShe]

Correct the navigation ESKF propagation and update behavior, validate state and measurement contracts, and document validation. This branch contains the navigation fix and validation commits on top of dev/eskf_fuse_depth.

[codecov]

Codecov Report

❌ Patch coverage is 60.28807% with 193 lines in your changes missing coverage. Please review.
✅ Project coverage is 38.87%. Comparing base (7e13a67) to head (d8aa47e).

Files with missing lines	Patch %	Lines
navigation/eskf/src/eskf_ros.cpp	0.00%	151 Missing ⚠️
navigation/eskf/test/core_tests.cpp	92.25%	5 Missing and 6 partials ⚠️
navigation/eskf/include/eskf/eskf.tpp	72.97%	5 Missing and 5 partials ⚠️
navigation/eskf/include/eskf/output.hpp	46.66%	0 Missing and 8 partials ⚠️
navigation/eskf/src/eskf.cpp	91.83%	4 Missing and 4 partials ⚠️
navigation/eskf/include/eskf/lie.hpp	90.90%	0 Missing and 2 partials ⚠️
navigation/eskf/include/eskf/typedefs.hpp	88.23%	2 Missing ⚠️
navigation/eskf/include/eskf/eskf.hpp	75.00%	1 Missing ⚠️

Additional details and impacted files

@@                   Coverage Diff                   @@
##           dev/eskf_fuse_depth     #740      +/-   ##
=======================================================
+ Coverage                36.80%   38.87%   +2.06%     
=======================================================
  Files                       85       88       +3     
  Lines                     6966     7383     +417     
  Branches                  2528     2815     +287     
=======================================================
+ Hits                      2564     2870     +306     
- Misses                    3724     3810      +86     
- Partials                   678      703      +25     

Flag	Coverage Δ
unittests	38.87% <60.28%> (+2.06%)	⬆️

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

Files with missing lines	Coverage Δ
navigation/eskf/include/eskf/eskf_ros.hpp	0.00% <ø> (ø)
navigation/eskf/include/eskf/eskf.hpp	75.00% <75.00%> (+75.00%)	⬆️
navigation/eskf/include/eskf/lie.hpp	90.90% <90.90%> (ø)
navigation/eskf/include/eskf/typedefs.hpp	78.26% <88.23%> (+78.26%)	⬆️
navigation/eskf/include/eskf/output.hpp	46.66% <46.66%> (ø)
navigation/eskf/src/eskf.cpp	92.30% <91.83%> (+92.30%)	⬆️
navigation/eskf/include/eskf/eskf.tpp	73.68% <72.97%> (+73.68%)	⬆️
navigation/eskf/test/core_tests.cpp	92.25% <92.25%> (ø)
navigation/eskf/src/eskf_ros.cpp	0.00% <0.00%> (ø)

... and 1 file with indirect coverage changes

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