Add contact-aware odometry source

[schmidma]

Summary

• add typed Pose2<Odometry> support and odometry delta helpers
• add shared sole-contact estimation and update support-foot estimation
• add a HULKs-owned contact-aware odometry node on inputs/odometry
• convert Booster odometry bridge to publish inputs/booster_odometry
• migrate ball_filter to consume typed odometry poses

Verification

• cargo fmt --check
• cargo check -p coordinate_systems -p types -p kinematics -p support_foot_estimator -p odometer_bridge -p odometry -p ball_filter -p hulk_ros_z
• cargo nextest run -p types -p kinematics -p support_foot_estimator -p odometer_bridge -p odometry -p ball_filter