Update mecanum_drive_controller with common controller features

It appears that the mecanum_drive_controller is lacking some features that are present in other controllers and seem to be important or useful. Compared to the diff_drive_controller, there are several features that could be implemented in the mecanum_drive_controller:

• Velocity limits (linear.x, linear.y, angular.z)
• cmd_vel_timeout: Timeout in seconds, after which input command on cmd_vel topic is considered staled.
• tf frame prefix parameters:
  • tf_frame_prefix_enable: Enables or disables appending tf_prefix to tf frame id's.
  • tf_frame_prefix: (optional) Prefix to be appended to the tf frames, will be added to odom_id and base_frame_id before publishing. If the parameter is empty, controller's namespace will be used.
• Wheel radius multiplier - Correction factor when radius of wheel differs from the nominal value in wheel_radius parameter.
• publish_rate: Publishing rate (Hz) of the odometry and TF messages.

All of these features are already implemented in the diff_drive_controller, so it seems the task would be to port them into the mecanum_drive_controller.

Compare the existing diff_drive_controller implementation with mecanum_drive_controller, focusing on the listed velocity limits, timeout, TF prefix, wheel-radius multiplier, and publish-rate features. Done means the mecanum controller supports the corresponding parameters and behavior consistently with diff_drive_controller; the issue does not name specific files or tests.