[builder] Provide add_overlay and add_modifier

No expected changes, but consistency of builder API.
Depreciate configure_overlay and configure_modifier
[testing] Adapt odometry test to match semantic changes

0eb98a8 moves v and w from differential to integrated and
9ad926 changes the default level to integrated.

However, the test is still broken :D
[sensor/odometry] Fix commit 0eb98a8

0eb98a8 moves the definition from vx, vy, vz ... from differential to
integrated, but does not move the real computation. Fix it :).
[testing] Replace configure_... by the equivalent add_

No functional changes