Extract robot constants to config file

[ShaanGondalia]

Background

By definition, PID constants and robot kinematic values are specific to a robot. Storing these magic values in code conflicts with the "robot agnostic" architecture that Controls was originally designed with. These constants should be extracted to a config file. Controls already defines a structure for a config file describing a robot's thruster configuration. This structure should be extended to include robot constants (PID constants, maximum velocities, set-point ranges).

Tasks

• Update config schema to support robot constants
• Remove robot constants from position and velocity launch files

[vedarshshah]

Will be done as part of #454.