Use actual position when limiting desired position

[saikishor]

While integrating the joint limits into the resource manager, I discovered that the current joint_limits implementation doesn't consider the actual position when limiting the desired position. This was the case as in ROS 1 too it doesn't use it, but uses the previous command value. I think it would make sense to consider the actual position as well in this scenario

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 89.29%. Comparing base (6e1059c) to head (fb38c2e).

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1988      +/-   ##
==========================================
+ Coverage   89.26%   89.29%   +0.03%     
==========================================
  Files         130      130              
  Lines       14493    14537      +44     
  Branches     1257     1258       +1     
==========================================
+ Hits        12937    12981      +44     
  Misses       1088     1088              
  Partials      468      468              

Flag	Coverage Δ
unittests	89.29% <100.00%> (+0.03%)	⬆️

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

Files with missing lines	Coverage Δ
...s/include/joint_limits/joint_limiter_interface.hpp	50.79% <ø> (ø)
.../include/joint_limits/joint_saturation_limiter.hpp	100.00% <ø> (ø)
...limits/include/joint_limits/joint_soft_limiter.hpp	92.85% <ø> (ø)
joint_limits/src/joint_limits_helpers.cpp	91.42% <100.00%> (+0.12%)	⬆️
joint_limits/src/joint_range_limiter.cpp	84.37% <100.00%> (+0.24%)	⬆️
joint_limits/src/joint_saturation_limiter.cpp	85.29% <100.00%> (-0.34%)	⬇️
joint_limits/src/joint_soft_limiter.cpp	88.37% <100.00%> (+0.87%)	⬆️
joint_limits/test/test_joint_range_limiter.cpp	100.00% <100.00%> (ø)
joint_limits/test/test_joint_soft_limiter.cpp	99.64% <100.00%> (+0.01%)	⬆️

... and 2 files with indirect coverage changes

[christophfroehlich]

I agree, this makes sense