Extend joint limits structure with deceleration limits.

[destogl]

In many cases there is a differnece between acceleration and deceleration limits of the hardware.
This means that when a robot or machine is going to stop higher velocity changes are allowed than when velocity is increased (independantly from the direction).

This PR proposes extension of joint limites structures with additional decleration limits.
Depending on concrete implementation of a joint limiter those limits may or may not be used.
This means that sometimes acceleration limits can be used for both velocity-change directions.

[bijoua29]

This looks fine.

The question is in the implementation. What happens when deceleration limits are not defined (has_deceleration_limits=false)? Does it use the acceleration limits? That probably makes sense. What about the converse - acceleration limits not defined but deceleration limits are defined?

[codecov-commenter]

Codecov Report

Merging #977 (b1d9b85) into master (925f5f3) will decrease coverage by 1.93%.
The diff coverage is 35.61%.

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@@            Coverage Diff             @@
##           master     #977      +/-   ##
==========================================
- Coverage   34.61%   32.69%   -1.93%     
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  Files          52       91      +39     
  Lines        2981     9551    +6570     
  Branches     1855     6432    +4577     
==========================================
+ Hits         1032     3123    +2091     
- Misses        310      704     +394     
- Partials     1639     5724    +4085     

Flag	Coverage Δ
unittests	32.69% <35.61%> (-1.93%)	⬇️

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

Impacted Files	Coverage Δ
controller_manager/src/controller_manager.cpp	38.27% <ø> (-1.44%)	⬇️
controller_manager/src/ros2_control_node.cpp	0.00% <0.00%> (ø)
..._interface/include/hardware_interface/actuator.hpp	100.00% <ø> (ø)
...re_interface/include/hardware_interface/sensor.hpp	100.00% <ø> (ø)
...re_interface/include/hardware_interface/system.hpp	100.00% <ø> (ø)
hardware_interface/src/resource_manager.cpp	49.91% <ø> (-3.72%)	⬇️
hardware_interface/src/sensor.cpp	50.52% <ø> (ø)
hardware_interface/src/system.cpp	55.45% <ø> (ø)
...rface/test/mock_components/test_generic_system.cpp	9.14% <ø> (ø)
...dware_interface/test/test_component_interfaces.cpp	32.44% <ø> (+4.25%)	⬆️
... and 69 more

... and 18 files with indirect coverage changes