Explicitly set i_clamp_min & i_clamp_max params in default controller_configuration #242
Description
Currently the default arm controller gain config yaml sets only i_clamp. When the controller loads these PID gains, it uses +/- i_clamp as i_clamp_min and i_clamp_max, and sets i_clamp_min and i_clamp_max on the parameter server.
If i_clamp is subsequently changed without setting i_clamp_min and i_clamp_max explicitly, the controller loading the PID gains will read the new i_clamp value, but then overwrite min/max with the (not updated) values of i_clamp_min and i_clamp_max still on the parameter server. The result is a controller running with the incorrect i_clamp_min/max values, which can causes significant changes in behavior and stability...
It seems reasonable to me that the default parameter sets should be updated to set i_clamp_min and i_clamp_max explicitly as an example to others. This should not alter behavior on start up, but those setting different parameters by copying the yaml file will avoid the above issue.