Move speed limiter from ros2_control repo

[christophfroehlich]

I thought it would be beneficial to reuse the SpeedLimiter of the diff_drive controller in the steering_controllers_library.

The SpeedLimiter might be useful for other controllers as well, so I suggest to add it to the control_toolbox repo.

I renamed it to rate_limiter, because it just limits the value and some derivatives, and could be used as control_filter plugin for other variables than speed.

Additionally, I added some tests because there were none.

[codecov-commenter]

Codecov Report

Attention: Patch coverage is 43.43434% with 56 lines in your changes missing coverage. Please review.

Project coverage is 49.91%. Comparing base (d4b317c) to head (7349e7d).

Files with missing lines	Patch %	Lines
include/control_filters/rate_limiter.hpp	0.00%	36 Missing ⚠️
include/control_toolbox/rate_limiter.hpp	68.25%	4 Missing and 16 partials ⚠️

Additional details and impacted files

@@               Coverage Diff               @@
##           ros2-master     #212      +/-   ##
===============================================
- Coverage        51.20%   49.91%   -1.30%     
===============================================
  Files               10       12       +2     
  Lines              496      595      +99     
  Branches            59       78      +19     
===============================================
+ Hits               254      297      +43     
- Misses             215      255      +40     
- Partials            27       43      +16     

Flag	Coverage Δ
unittests	49.91% <43.43%> (-1.30%)	⬇️

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

Files with missing lines	Coverage Δ
include/control_toolbox/rate_limiter.hpp	68.25% <68.25%> (ø)
include/control_filters/rate_limiter.hpp	0.00% <0.00%> (ø)

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[bmagyar]

Very simple. We should relicense all bsd to apache.

[destogl]

We should use the C++ NaN version and not C version.

Basically, the NaN should be changed to std::numeric_limits<double>::quiet_NaN() - and probably add #include <limits> file.

[christophfroehlich]

done