Added velocity limiting to the mecanum controller.

[tonybaltovski]

Description

Added velocity limiting to linear x,y direction and angular yaw. Also, added tests to verify them.

Fixes # (issue)

Is this user-facing behavior change?

Users can set velocity limits but if they are not set it will not change behaviors.

Did you use Generative AI?

No.

Additional Information

TODOs

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[codecov]

Codecov Report

❌ Patch coverage is 93.69748% with 15 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.24%. Comparing base (5a74f29) to head (15551f6).
⚠️ Report is 14 commits behind head on master.

Files with missing lines	Patch %	Lines
..._drive_controller/src/mecanum_drive_controller.cpp	83.63%	9 Missing ⚠️
..._controller/test/test_mecanum_drive_controller.cpp	96.72%	6 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2313      +/-   ##
==========================================
+ Coverage   85.13%   85.24%   +0.11%     
==========================================
  Files         154      154              
  Lines       15417    15331      -86     
  Branches     1334     1283      -51     
==========================================
- Hits        13125    13069      -56     
+ Misses       1800     1787      -13     
+ Partials      492      475      -17     

Flag	Coverage Δ
unittests	85.24% <93.69%> (+0.11%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
..._controller/test/test_mecanum_drive_controller.hpp	87.50% <ø> (ø)
..._controller/test/test_mecanum_drive_controller.cpp	98.36% <96.72%> (-0.99%)	⬇️
..._drive_controller/src/mecanum_drive_controller.cpp	84.93% <83.63%> (-0.83%)	⬇️

... and 2 files with indirect coverage changes

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[bmagyar]

Thank you!
Left a few notes but I'm mostly concerned about the reset.

[bmagyar]

Thank you for the quick fixes!

[tonybaltovski]

Thank you for the quick fixes!

No worries but let me get these changes test on a robot before merging though.

[christophfroehlich]

As the limiter parameters are not read_only, we should also update them in active state
This is also the way we want o go with diff_drive_controller