Remove legacy and deprecated PID parameters

[ViktorCVS]

Overview

Remove legacy and deprecated PID parameters from the pid_controller package.

What was added/changed in this PR

• Removed legacy and deprecated PID parameters from the pid_controller package

About tests

The packages compile correctly and have passed the pre‑commit and colcon tests.

About change in tests

One test file was modified. Updates required by the removal of the legacy anti-windup strategy.

Related PR's

• Remove legacy and deprecated PID parameters control_toolbox#436

Final notes

I'm very open to any recommendations to improve this code.

[bmagyar]

Did the tests pass for you locally? There seems to be numerical inconsistencies now

[christophfroehlich]

these come from the change of backward to forward integration of the integral action, we are discussing this in the upstream pr

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 85.25%. Comparing base (4f9c462) to head (5956291).
⚠️ Report is 2 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1845      +/-   ##
==========================================
- Coverage   85.26%   85.25%   -0.01%     
==========================================
  Files         143      143              
  Lines       13794    13794              
  Branches     1193     1194       +1     
==========================================
- Hits        11761    11760       -1     
  Misses       1636     1636              
- Partials      397      398       +1     

Flag	Coverage Δ
unittests	85.25% <100.00%> (-0.01%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...ory_controller/src/joint_trajectory_controller.cpp	83.95% <100.00%> (ø)
...ntroller/test/test_trajectory_controller_utils.hpp	84.47% <100.00%> (-0.05%)	⬇️
pid_controller/test/test_pid_controller.cpp	100.00% <ø> (ø)

... and 1 file with indirect coverage changes

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• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[christophfroehlich]

Thanks, LGTM. I try to get the downstream checks running before merging this (and releasing to kilted).

[christophfroehlich]

Can you please also update joint_trajectory_controller parameters?

[christophfroehlich]

Thanks!

[christophfroehlich]

Do you mind opening a PR to fix ur_controllers now, too?

2025-09-03T17:39:24.3426206Z /tmp/ws2/src/ur_controllers/src/scaled_joint_trajectory_controller.cpp: In member function ‘void ur_controllers::ScaledJointTrajectoryController::update_pids()’:
2025-09-03T17:39:24.3427674Z /tmp/ws2/src/ur_controllers/src/scaled_joint_trajectory_controller.cpp:361:36: error: ‘const struct joint_trajectory_controller::Params::Gains::MapJoints’ has no member named ‘i_clamp’; did you mean ‘i_clamp_max’?
2025-09-03T17:39:24.3428531Z   361 |     antiwindup_strat.i_max = gains.i_clamp;
2025-09-03T17:39:24.3428794Z       |                                    ^~~~~~~
2025-09-03T17:39:24.3429033Z       |                                    i_clamp_max
2025-09-03T17:39:24.3430025Z /tmp/ws2/src/ur_controllers/src/scaled_joint_trajectory_controller.cpp:362:37: error: ‘const struct joint_trajectory_controller::Params::Gains::MapJoints’ has no member named ‘i_clamp’; did you mean ‘i_clamp_max’?
2025-09-03T17:39:24.3430891Z   362 |     antiwindup_strat.i_min = -gains.i_clamp;
2025-09-03T17:39:24.3431151Z       |                                     ^~~~~~~
2025-09-03T17:39:24.3431391Z       |                                     i_clamp_max
2025-09-03T17:39:24.3432257Z gmake[2]: *** [CMakeFiles/ur_controllers.dir/build.make:104: CMakeFiles/ur_controllers.dir/src/scaled_joint_trajectory_controller.cpp.o] Error 1
2025-09-03T17:39:24.3432950Z gmake[1]: *** [CMakeFiles/Makefile2:409: CMakeFiles/ur_controllers.dir/all] Error 2
2025-09-03T17:39:24.3433323Z gmake: *** [Makefile:146: all] Error 2
2025-09-03T17:39:24.3433534Z ---
2025-09-03T17:39:24.3433691Z --- stderr: ur_controllers
2025-09-03T17:39:24.3434480Z /tmp/ws2/src/ur_controllers/src/scaled_joint_trajectory_controller.cpp: In member function ‘void ur_controllers::ScaledJointTrajectoryController::update_pids()’:
2025-09-03T17:39:24.3435901Z /tmp/ws2/src/ur_controllers/src/scaled_joint_trajectory_controller.cpp:361:36: error: ‘const struct joint_trajectory_controller::Params::Gains::MapJoints’ has no member named ‘i_clamp’; did you mean ‘i_clamp_max’?
2025-09-03T17:39:24.3436841Z   361 |     antiwindup_strat.i_max = gains.i_clamp;
2025-09-03T17:39:24.3437086Z       |                                    ^~~~~~~
2025-09-03T17:39:24.3437332Z       |                                    i_clamp_max
2025-09-03T17:39:24.3438396Z /tmp/ws2/src/ur_controllers/src/scaled_joint_trajectory_controller.cpp:362:37: error: ‘const struct joint_trajectory_controller::Params::Gains::MapJoints’ has no member named ‘i_clamp’; did you mean ‘i_clamp_max’?
2025-09-03T17:39:24.3439230Z   362 |     antiwindup_strat.i_min = -gains.i_clamp;
2025-09-03T17:39:24.3439485Z       |                                     ^~~~~~~
2025-09-03T17:39:24.3439713Z       |                                     i_clamp_max
2025-09-03T17:39:24.3440290Z gmake[2]: *** [CMakeFiles/ur_controllers.dir/build.make:104: CMakeFiles/ur_controllers.dir/src/scaled_joint_trajectory_controller.cpp.o] Error 1
2025-09-03T17:39:24.3441034Z gmake[1]: *** [CMakeFiles/Makefile2:409: CMakeFiles/ur_controllers.dir/all] Error 2