[DiffDriveController] use "period" argument in the update method insead of calculating "dt"

[destogl]

we should have period available in the update method

Originally posted by @destogl in #260 (comment)

[christophfroehlich]

Consider also the discussion in
#1481

[christophfroehlich]

@christophfroehlich can you review the odometry implementation in #1535? If it looks good, I can make a PR making similar modifications to the diff_drive_controller.

Originally posted by @Amronos in #1394 (comment)