Re-write velocity PID control

[romi2002]

• Add support for the brake actuator, should be optional in case it is not needed.
• Simplify controller, check if linearization is needed.
• Add mode topic, so we can check if auto is enabled
  • Reset I term for controller when auto is disabled
• Some work has been done already, check vanttec_controllers/refactor

[romi2002]

PID Implementation: https://github.com/vanttec/vanttec_controllers/blob/refactor/src/controllers/control_laws/PID/first_order/pid.cpp
Example / Unit Tests: https://github.com/vanttec/vanttec_controllers/blob/refactor/tests/controllers/control_laws/pid_test.cpp