steering_controllers_library: Add `reduce_wheel_speed_until_steering_reached` parameter

[christophfroehlich]

Some features are missing in the library to feature-equally integrate the older tricycle_controller (#850).

reduce_wheel_speed_until_steering_reached is one step closer.

The old code https://github.com/ros-controls/ros2_controllers/blob/97c1e2472f2bbc98a9cb86449b41611a3e298b30/tricycle_controller/src/tricycle_controller.cpp#L173-L189

I modified the function a bit to be continuously differentiable

This breaks ABI of the odometry class, but I don't think that lots of people use this directly without the derived controllers.