Added position and velocity PID

[ahcorde]

This PR adds velocity and position PID

This PR is based on this other PR ros-controls/control_toolbox#97

Signed-off-by: ahcorde ahcorde@gmail.com

[chapulina]

Could you add some instructions on how to test this? Thanks!

[ahcorde]

need a rebase of this PR #28 when is merge on master

[chapulina]

joint_trajectory_controller is failing to build on CI, with a different error from #30

 --- stderr: joint_trajectory_controller
/home/ros2_ws/src/ros2_controllers/joint_trajectory_controller/src/trajectory.cpp:22:10: fatal error: rcppmath/clamp.hpp: No such file or directory
   22 | #include "rcppmath/clamp.hpp"
      |          ^~~~~~~~~~~~~~~~~~~~
compilation terminated.

[ahcorde]

joint_trajectory_controller is failing to build on CI, with a different error from #30

 --- stderr: joint_trajectory_controller
/home/ros2_ws/src/ros2_controllers/joint_trajectory_controller/src/trajectory.cpp:22:10: fatal error: rcppmath/clamp.hpp: No such file or directory
   22 | #include "rcppmath/clamp.hpp"
      |          ^~~~~~~~~~~~~~~~~~~~
compilation terminated.

This is fixed with the new release of Foxy

[ahcorde]

friendly ping @chapulina