[PID Controllers] Set first set point to current measurement (backport #2205)

[mergify]

This modifies the PID Controller to use the current measurement as the starting set point to the PID controller. This way the robot might stay in place.

---

This is an automatic backport of pull request #2205 done by Mergify.

[mergify]

Cherry-pick of bb214dc has failed:

On branch mergify/bp/jazzy/pr-2205
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit bb214dc.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   pid_controller/src/pid_controller.cpp
	modified:   pid_controller/src/pid_controller.yaml
	modified:   pid_controller/test/pid_controller_params.yaml
	modified:   pid_controller/test/test_pid_controller.cpp
	modified:   pid_controller/test/test_pid_controller.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   doc/release_notes.rst

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[christophfroehlich]

    [  FAILED  ] PidControllerTest.test_update_logic_feedforward_on_with_zero_feedforward_gain
    
     1 FAILED TEST
    -- run_test.py: return code 1
    -- run_test.py: inject classname prefix into gtest result file '/home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/build/pid_controller/test_results/pid_controller/test_pid_controller.gtest.xml'
    -- run_test.py: verify result file '/home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/build/pid_controller/test_results/pid_controller/test_pid_controller.gtest.xml'
  >>>
build/pid_controller/test_results/pid_controller/test_pid_controller.gtest.xml: 21 tests, 0 errors, 1 failure, 0 skipped
- pid_controller.PidControllerTest test_update_logic_feedforward_on_with_zero_feedforward_gain (/home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/pid_controller/test/test_pid_controller.cpp:336)
  <<< failure message
    /home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/pid_controller/test/test_pid_controller.cpp:351
    Value of: std::isnan(interface)
      Actual: false
    Expected: true
    /home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/pid_controller/test/test_pid_controller.cpp:364
    Value of: std::isnan(controller_->reference_interfaces_[i])
      Actual: false
    Expected: true
  >>>

👀 @saikishor

[saikishor]

@christophfroehlich Just pushed the fix. It seems like there are extra tests on Jazzy and I didn't notice it. Thanks

[codecov]

Codecov Report

❌ Patch coverage is 52.00000% with 12 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.36%. Comparing base (9c610fd) to head (fe7f7f7).
⚠️ Report is 1 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
pid_controller/src/pid_controller.cpp	33.33%	10 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #2210      +/-   ##
==========================================
- Coverage   84.41%   84.36%   -0.06%     
==========================================
  Files         153      153              
  Lines       15141    15162      +21     
  Branches     1340     1348       +8     
==========================================
+ Hits        12781    12791      +10     
- Misses       1873     1883      +10     
- Partials      487      488       +1     

Flag	Coverage Δ
unittests	84.36% <52.00%> (-0.06%)	⬇️

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

Files with missing lines	Coverage Δ
pid_controller/test/test_pid_controller.cpp	100.00% <100.00%> (ø)
pid_controller/test/test_pid_controller.hpp	87.15% <ø> (ø)
pid_controller/src/pid_controller.cpp	68.65% <33.33%> (-2.49%)	⬇️

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