Remove most references to commands-helper

src/admittance-controller.cpp

src/com-admittance-controller.cpp

src/dcm-com-controller.cpp

src/dcm-controller.cpp

src/dummy-dcm-estimator.cpp

src/filter-differentiator.cpp

src/imu_offset_compensation.cpp

src/joint-position-controller.cpp

src/madgwickahrs.cpp

src/parameter-server.cpp

src/simple-zmp-estimator.cpp