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.

[codecov[bot]]

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 83.82%. Comparing base (d32665a) to head (954c9f2). Report is 3 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1314      +/-   ##
==========================================
+ Coverage   83.71%   83.82%   +0.10%     
==========================================
  Files         122      122              
  Lines       11050    11120      +70     
  Branches      940      946       +6     
==========================================
+ Hits         9251     9321      +70     
  Misses       1489     1489              
  Partials      310      310              

Flag	Coverage Δ
unittests	83.82% <100.00%> (+0.10%)	:arrow_up:

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

Files with missing lines	Coverage Δ
...steering_controllers_library/steering_odometry.hpp	100.00% <ø> (ø)
...llers_library/src/steering_controllers_library.cpp	79.72% <100.00%> (+0.09%)	:arrow_up:
...ring_controllers_library/src/steering_odometry.cpp	82.53% <100.00%> (+1.00%)	:arrow_up:
...ontrollers_library/test/test_steering_odometry.cpp	100.00% <100.00%> (ø)