Declare missing parameters for PID

[christophfroehlich]

Resolves #442

I fixed the tests, we haven't tested all the parameters with initialize_from_ros_parameters

[codecov-commenter]

Codecov Report

❌ Patch coverage is 92.30769% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 77.82%. Comparing base (2ad92f1) to head (0634ee9).

Files with missing lines	Patch %	Lines
control_toolbox/src/pid_ros.cpp	88.88%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@               Coverage Diff               @@
##           ros2-master     #443      +/-   ##
===============================================
+ Coverage        77.75%   77.82%   +0.07%     
===============================================
  Files               30       30              
  Lines             2009     2020      +11     
  Branches           125      129       +4     
===============================================
+ Hits              1562     1572      +10     
  Misses             379      379              
- Partials            68       69       +1     

Flag	Coverage Δ
unittests	77.82% <92.30%> (+0.07%)	⬆️

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

Files with missing lines	Coverage Δ
control_toolbox/test/pid_ros_parameters_tests.cpp	100.00% <100.00%> (ø)
control_toolbox/src/pid_ros.cpp	64.77% <88.88%> (+0.55%)	⬆️

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[saikishor]

Suggested change

	bool saturation = false;
	bool saturation = true;

Shouldn't the default be true?

control_toolbox/control_toolbox/src/pid_ros.cpp

Line 388 in 2ad92f1

declare_param(param_prefix_ + "saturation", rclcpp::ParameterValue(true));

TO be coherent with the above one

[christophfroehlich]

I'd change it in initialize_from_args to be true only if u_min or u_max argument is finite.
for ROS parameters, idk if it should be default false or default true? or use the same logic, depending on u_clamp_max/min parameter?