Add checks on maximum velocities in PID

[adeguet1]

The PID class should have few more safety checks:

• check that measured_jp is within joint limits (+/- tolerance)
• check that measured_jv is reasonable (maybe use trajectory generation max velocity x some factor)
• check that setpoint_jv is capped (as we do for setpoint_jp). We could use trajectory generation velocity x some factor

[bhagyeshagresar]

Hello @adeguet1 ! I would like to claim this issue and contribute if possible? I am new to this project. If you think if there some other issue that might be a good first issue, Kindly let me know!