sensors: create vehicle_angular_velocity module (#12596)

* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl

msg/tools/uorb_rtps_message_ids.yaml

@@ -198,6 +198,8 @@ rtps:
     id: 85
   - msg: vehicle_air_data
     id: 86
+  - msg: vehicle_angular_velocity
+    id: 134
   - msg: vehicle_attitude
     id: 87
     send: true
@@ -279,6 +281,9 @@ rtps:
   - msg: fw_virtual_attitude_setpoint
     id: 127
     alias: vehicle_attitude_setpoint
+  - msg: vehicle_angular_velocity_groundtruth
+    id: 135
+    alias: vehicle_angular_velocity
   - msg: vehicle_attitude_groundtruth
     id: 128
     alias: vehicle_attitude