Standardize and move rate limiters to control_toolbox

[tonynajjar]

Describe the solution you'd like Mobile base (and perhaps other) controllers use some form of rate limiters to limit speeds, acceleration, jerks. Currently each controller has its own implementation. It would be nice to standardize this module and put it in control_toolbox Originally proposed here https://github.com/ros-controls/ros2_controllers/pull/345#discussion_r922724898