bugfix: gravity vector now rotated to target_frame prior to removal

[HaoguangYang]

Addresses Issue #846 when integrating IMU data for odometry.

In the previous version, the gravity vector was rotated to IMU frame instead of target_frame prior to gravity removal. However, acc_tmp has already been transformed into target_frame. This causes inconsistency and may have caused issue #846 .

[ayrton04]

Thanks for this. It looks like it needs to be uncrustified, though:

https://build.ros2.org/job/Rpr__robot_localization__ubuntu_noble_amd64/9/testReport/

--- src/ros_filter.cpp
+++ src/ros_filter.cpp.uncrustify
@@ -2731 +2731 @@
-                    (trans.getBasis().inverse() * normAcc);
+            (trans.getBasis().inverse() * normAcc);
@@ -2739,2 +2739,2 @@
-                      (trans.getBasis().inverse() *
-                      (target_frame_trans.getBasis().inverse() * normAcc));
+            (trans.getBasis().inverse() *
+            (target_frame_trans.getBasis().inverse() * normAcc));