Enable to set a calibrtion point safely

[ssr-yuki]

This PR includes

• adding options to set a calibration point if it is not zero, and
• limiting commands with referring to the robot description file (URDF).

The latter is based on joint_limit_interface libs.

[ssr-yuki]

位置・速度・電流制御全て，実機モータで正常動作を確認しましたのでマージします．