[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.

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

[mergify]

Cherry-pick of bb214dc has failed:

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

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

[codecov]

Codecov Report

❌ Patch coverage is 52.00000% with 12 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.25%. Comparing base (5afc9fd) to head (53ac69f).
⚠️ Report is 1 commits behind head on kilted.

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             @@
##           kilted    #2211      +/-   ##
==========================================
- Coverage   85.30%   85.25%   -0.06%     
==========================================
  Files         151      151              
  Lines       14832    14853      +21     
  Branches     1282     1290       +8     
==========================================
+ Hits        12653    12663      +10     
- Misses       1725     1735      +10     
- Partials      454      455       +1     

Flag	Coverage Δ
unittests	85.25% <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	87.50% <ø> (ø)
pid_controller/src/pid_controller.cpp	65.49% <33.33%> (-2.43%)	⬇️

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