update mecanum controller

[KmakD]

To be tested

• changed get_value() -> get_optional().value()
• added value_set_error
• changed realtime_tools::RealtimeBox -> realtime_tools::RealtimeBuffer
• Added standard code formatting - that's why PR looks so big

[rafal-gorecki]

1. I would stay with ros2_control formatting clang setting. In future if we would like to update repo there will be less changes.
2. We can also use the same pre-commit as ros2-control?

[KmakD]

This is not a fork of ros2_controllers so I don't see a point in switching from Husarion standard formatting. Beside, the implementation for mecanum in ros2_controllers is way different from this one and I don't think will ever end up updating this to match ros2 control.