[steering_controllers_library] Implement velocity limits (Consistency with DiffDrive)

[Ishan1923]

Description
I am looking into the steering_controllers_library and found an explicit TODO at line 419:

// TODO(destogl): add limiter for the velocities

The Conflict
I noticed that PR #1829 (Tricycle limits) was closed in July 2025 with the suggestion to use joint_limits in the Resource Manager instead.
However, diff_drive_controller currently does implement internal velocity limits (merged in PR #1315).

Question
What is the desired direction for steering_controllers?

• Consistency: Should I implement the velocity limits here to match diff_drive_controller?
• Strict Hardware Limits: Or, is the decision to rely solely on the Resource Manager?

If it is Option 2, I can submit a PR to remove the TODO to prevent future confusion. If it is Option 1, I am happy to implement the speed_limiter logic.

[Amronos]

I was working on this: #1801, and will continue the work sometime in April.