Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04

[clalancette]

Two things are needed to make this compile:

1. Make sure to add a package.xml dependency on backward_ros, which is necessary to compile.
2. Make sure to #include <rclcpp/version.h>, so the correct rclcpp::QoS object is chosen.

With both of these in place, this package compiles cleanly on Ubuntu 24.04.

This should fix the CI build like in https://build.ros2.org/view/Rbin_uN64/job/Rbin_uN64__pid_controller__ubuntu_noble_amd64__binary/13/console

Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:

1. Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.
2. Give your PR a descriptive title. Add a short summary, if required.
3. Make sure the pipeline is green.
4. Don’t be afraid to request reviews from maintainers.
5. New code = new tests. If you are adding new functionality, always make sure to add some tests exercising the code and serving as live documentation of your original intention.

To send us a pull request, please:

• Fork the repository.
• Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
• Ensure local tests pass. (colcon test and pre-commit run (requires you to install pre-commit by pip3 install pre-commit)
• Commit to your fork using clear commit messages.
• Send a pull request, answering any default questions in the pull request interface.
• Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

[saikishor]

Thanks for the changes.
Regarding the backward_ros dependency, I've just observed the missing dependency in the following packages as well: ackermann_steering_controller, bicycle_steering_controller, tricycle_steering_controller. Can you also add them in the same PR?.

Thank you

[clalancette]

Regarding the backward_ros dependency, I've just observed the missing dependency in the following packages as well: ackermann_steering_controller, bicycle_steering_controller, tricycle_steering_controller. Can you also add them in the same PR?.

Yes, very good call. Fixed now in 175c4d5.

[saikishor]

LGTM. Thank you for the changes :)

[christophfroehlich]

Thanks!

[clalancette]

Rolling coverage CI seems to be failing here because the action is not installing ros-rolling-rsl properly in the container. Then it later fails to build parameter_traits, which depends on that.

It doesn't look to be connected with this PR, so I don't think it should hold this up.

[bmagyar]

Brilliant, thank you!

[clalancette]

A release into Rolling would be much appreciated, as it would close out this particular problem. Thanks!