thrusterPlatformReference refactor

[rcalaon]

Describe your use case
Refactoring the thrusterPlatformReference module in order to read in a message containing the static information on thrust vector and application point in platform frame coordinates, and outputting the same information in body frame coordinates and with respect to the origin of the B frame.

Moreover, this issue aims to add an integral feedback to the control law in thrusterPlatformReference that uses the thruster platform to dump momentum on the reaction wheels. Additionally, a user input is added to provide a limit to the gimbal angles allowed.

Describe alternatives solutions you've considered
An alternative solution consists in using only the proportional feedback term combined with continuous center of mass (CoM) estimation.

Additional context
When the CoM is not continuously estimated, the bias on the CoM knowledge causes a steady-state bias on the wheel speeds, which cannot be dumped by the control law. Adding the integral feedback term aims to dump that steady-state bias.