Added velocity limiting to the mecanum controller. (backport #2313)

[mergify]

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

To send us a pull request, please:

• Fork the repository.
• Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
• Ensure local tests pass. (colcon test and pre-commit run (requires you to install pre-commit by pip3 install pre-commit)
• Commit to your fork using clear commit messages.
• Send a pull request, answering any default questions in the pull request interface.
• Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

---

This is an automatic backport of pull request #2313 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of be5379a has failed:

On branch mergify/bp/kilted/pr-2313
Your branch is up to date with 'origin/kilted'.

You are currently cherry-picking commit be5379a.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   mecanum_drive_controller/package.xml
	modified:   mecanum_drive_controller/test/mecanum_drive_controller_params.yaml
	modified:   mecanum_drive_controller/test/test_mecanum_drive_controller.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   mecanum_drive_controller/CMakeLists.txt
	both modified:   mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp
	both modified:   mecanum_drive_controller/src/mecanum_drive_controller.cpp
	both modified:   mecanum_drive_controller/src/mecanum_drive_controller.yaml
	both modified:   mecanum_drive_controller/test/test_mecanum_drive_controller.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[codecov]

Codecov Report

❌ Patch coverage is 93.72937% with 19 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.99%. Comparing base (9046d56) to head (ea500e3).

Files with missing lines	Patch %	Lines
..._drive_controller/src/mecanum_drive_controller.cpp	80.64%	11 Missing and 1 partial ⚠️
..._controller/test/test_mecanum_drive_controller.cpp	97.09%	6 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           kilted    #2363      +/-   ##
==========================================
+ Coverage   85.85%   85.99%   +0.14%     
==========================================
  Files         152      152              
  Lines       15113    15405     +292     
  Branches     1296     1317      +21     
==========================================
+ Hits        12975    13248     +273     
- Misses       1682     1699      +17     
- Partials      456      458       +2     

Flag	Coverage Δ
unittests	85.99% <93.72%> (+0.14%)	⬆️

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	98.66% <97.09%> (-1.34%)	⬇️
..._drive_controller/src/mecanum_drive_controller.cpp	87.50% <80.64%> (-2.16%)	⬇️

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