Clean package.xml & extend description

Author: Excelsius314

README.md

@@ -5,6 +5,7 @@ Simple controllers for the [ros2_control](https://control.ros.org/jazzy/index.ht
 ## Controllers
 1. Safety Forward Controller: A simple forward controller that resets the command value to zero if no command is received within a specified timeout period.
 2. Self Collision Avoidance Controller: A controller that prevents self-collision by checking the robot's state and if a nearby collision is detected, it makes sure to prevent the robot from moving into that state.
+3. Current Limit Controller: Enables setting current limits i.e. torque limits for motors via their current interface. Can be accessed via service calls.
 
 # hector_controller_spawner
 A lightweight ROS2 node that boots an entire *ros2_control* setup in a single shot, managing hardware interfaces and controllers efficiently.