Update quaternion tutorial (backport #6069)

[mergify]

Description

Per Issue 6063, this PR revises the quaternion tutorial based on the issues noted below:

1 - The convention of quaternion representaion in an array in the function definition is [w,x,y,z] not consistent with the passed arrays [x,y,z,w].

2- It is mentioned that the inverse of a unit quaternion is simply the negation of w, which is incorrect, representing the quaternion as the array of [w,x,y,z], the inverse is [w, -x,-y,-z].

Fixes #6063

Did you use Generative AI?

No

---

This is an automatic backport of pull request #6069 done by Mergify.

[github-actions]

HTML artifacts: https://github.com/ros2/ros2_documentation/actions/runs/20147979336/artifacts/4843482648.

To view the resulting site:

1. Click on the above link to download the artifacts archive
2. Extract it
3. Open html-artifacts-6090/index.html in your favorite browser