Upgrade the rotator controller with new trajectory and deploy on summit.

Based on Ander:

If you compare our current “rotator_smlnk_Commands.xml” with the last develop commit, you could see that some elements have been removed because they were related to the previous control algorithm. Also, new parameters have been added for the new control:

• Removed:
  MaxType1SlewPos
  MaxType2SlewPos
  pLoop_adaptationLimit
  pLoop_adaptaionGain
  pLoop_proportionalGain
  pLoop_integralGain
  pLoop_UserSpecVelocityCmdLimit
  vLoop_proportionalGain
  vLoop_integralGain
  vLoop_motorCurrentLimit
  sysBiasMod_forwardPlus
  sysBiasMod_forwardMinus
  sysBiasMod_reversePlus
  sysBiasMod_reverseMinus
  sysBiasMod_maxCurrent
  CoggingCompensationFlag

• Added:
  PosLoop_Kv: Position loop’s controller proportional gain [rad/s]
  VelLoop_Kp: Speed loop’s controller proportional gain [rad/s]
  VelLoop_Ti: Speed loop’s controller integral time [s]
  CurrentLimit: Motor current limit [A]
  enableFFV: Logical value to enable or disable the controller’s speed feedforward term [0 = not active, 1 = active]
  Preload_Kp: Load sharing controller’s proportional gain [rad/s]
  Preload_Ti: Load sharing controller’s integral gain [s]
  Preload_Tq: Preload torque value [per unit, using maximum torque as 1]

Note. The story point in this ticket contains the DM-34299.