Integrate joint limit enforcement into ros2_control framework

[saikishor]

Address #1466

[saikishor]

This PR is ready as how it is, but needs to be tested with the real hardware or with the demos

[saikishor]

I've tested the changes with Example 2 : DiffBot. It is working as expected

With enforce_command_limits parameter to false

---
header:
  stamp:
    sec: 1736346475
    nanosec: 876075833
  frame_id: ''
name:
- right_wheel_joint
- left_wheel_joint
position:
- 2465.0275847635803
- 2408.3609160969136
velocity:
- 570.0017813333335
- 563.3351146666668
effort:
- .nan
- .nan
---

With enforce_command_limits parameter to true

---
header:
  stamp:
    sec: 1736346517
    nanosec: 219967158
  frame_id: ''
name:
- right_wheel_joint
- left_wheel_joint
position:
- 24.49999652
- 24.49999652
velocity:
- 1.0
- 1.0
effort:
- .nan
- .nan
---

[codecov]

Codecov Report

Attention: Patch coverage is 97.50000% with 4 lines in your changes missing coverage. Please review.

Project coverage is 89.49%. Comparing base (dab91b1) to head (c3a3054).

Files with missing lines	Patch %	Lines
hardware_interface/src/resource_manager.cpp	95.23%	0 Missing and 3 partials ⚠️
...e_interface_testing/test/test_resource_manager.cpp	98.63%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1989      +/-   ##
==========================================
+ Coverage   89.32%   89.49%   +0.16%     
==========================================
  Files         138      138              
  Lines       14774    14926     +152     
  Branches     1270     1288      +18     
==========================================
+ Hits        13197    13358     +161     
+ Misses       1102     1095       -7     
+ Partials      475      473       -2     

Flag	Coverage Δ
unittests	89.49% <97.50%> (+0.16%)	⬆️

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

Files with missing lines	Coverage Δ
.../include/controller_manager/controller_manager.hpp	100.00% <ø> (ø)
controller_manager/src/controller_manager.cpp	76.28% <100.00%> (-0.01%)	⬇️
...est_controller_manager_hardware_error_handling.cpp	100.00% <100.00%> (ø)
...t_controllers_chaining_with_controller_manager.cpp	99.23% <100.00%> (+<0.01%)	⬆️
...ace_testing/test/test_components/test_actuator.cpp	87.27% <100.00%> (+0.99%)	⬆️
joint_limits/src/joint_limits_helpers.cpp	91.78% <100.00%> (+0.23%)	⬆️
...e_interface_testing/test/test_resource_manager.cpp	99.39% <98.63%> (-0.08%)	⬇️
hardware_interface/src/resource_manager.cpp	76.47% <95.23%> (+1.47%)	⬆️

... and 6 files with indirect coverage changes

[saikishor]

Tested with cart example of gazebo_ros2_control_demos and the following are the results of the command of 15.0 m with soft limits added in the URDF

    <limit effort="1000.0" lower="-15" upper="15" velocity="1.0"/>
    <safety_controller k_position="0.01" k_velocity="10.0" soft_lower_limit="-12" soft_upper_limit="12"/>

Without limit enforcement (enforce_command_limits parameter to false):

With limit enforcement (enforce_command_limits parameter to true):