Fix disable velocity and effort limiting feature

[saikishor]

Description

When the effort limit is explicitly disabled as follows, the limit enforcement is still happening, this PR fixes that issue

            <command_interface name="effort">
                <limits enable="false"/>
            </command_interface>

Is this user-facing behavior change?

YES, but towards what is expected

Did you use Generative AI?

Docs part eith claude

[codecov]

Codecov Report

❌ Patch coverage is 96.22642% with 6 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.46%. Comparing base (d9c0eb4) to head (72cf2b1).
⚠️ Report is 2 commits behind head on master.

Files with missing lines	Patch %	Lines
joint_limits/test/test_joint_range_limiter.cpp	95.58%	0 Missing and 3 partials ⚠️
joint_limits/test/test_joint_soft_limiter.cpp	96.25%	0 Missing and 3 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #3425      +/-   ##
==========================================
+ Coverage   89.42%   89.46%   +0.04%     
==========================================
  Files         162      162              
  Lines       21031    21185     +154     
  Branches     1645     1653       +8     
==========================================
+ Hits        18807    18954     +147     
  Misses       1531     1531              
- Partials      693      700       +7     

Flag	Coverage Δ
unittests	89.46% <96.22%> (+0.04%)	⬆️

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Files with missing lines	Coverage Δ
joint_limits/src/joint_limits_helpers.cpp	89.21% <100.00%> (-0.59%)	⬇️
joint_limits/src/joint_soft_limiter.cpp	91.42% <100.00%> (+0.12%)	⬆️
joint_limits/test/test_joint_range_limiter.cpp	99.33% <95.58%> (-0.67%)	⬇️
joint_limits/test/test_joint_soft_limiter.cpp	99.29% <96.25%> (-0.39%)	⬇️

... and 2 files with indirect coverage changes

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