feat/fix: PID quaternion-based DP controller

[ppakr]

Goal: correctly implement and validate the existing quaternion-based DP controller

Completed work

• The core control mathematics have been reimplemented and validated. The implementation sucessfully passes all unit tests.

Known issue

• Axis/Gain Mapping Swap: The control efforts/gains appear to be swapped for the planar axes (X and Y), and potentially for the rotational axes (Roll and Pitch). This needs investigation into the input vector mapping.
• RQT Gain Bug: When updating a single gain via the rqt_reconfigure tool, the system receives the correct value, but all other gains are immediately reset to 0 in the controller's internal state

TODO

1. Resolve the XY axis mapping issue
2. Fix the RQT gain update to allow persistent configuration
3. Clean code
4. Documentation

[codecov]

Codecov Report

❌ Patch coverage is 40.90909% with 286 lines in your changes missing coverage. Please review.
✅ Project coverage is 26.91%. Comparing base (1adb624) to head (1ed1d42).
⚠️ Report is 3 commits behind head on main.

Files with missing lines	Patch %	Lines
...ntrol/pid_controller_dp/src/pid_controller_ros.cpp	0.00%	147 Missing ⚠️
...ol/pid_controller_dp/test/pid_controller_tests.cpp	58.75%	0 Missing and 113 partials ⚠️
control/pid_controller_dp/src/pid_controller.cpp	59.01%	25 Missing ⚠️
...trol/pid_controller_dp/src/pid_controller_node.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #643      +/-   ##
==========================================
+ Coverage   18.77%   26.91%   +8.14%     
==========================================
  Files          38       38              
  Lines        2376     2478     +102     
  Branches      426      680     +254     
==========================================
+ Hits          446      667     +221     
+ Misses       1815     1626     -189     
- Partials      115      185      +70     

Flag	Coverage Δ
unittests	26.91% <40.90%> (+8.14%)	⬆️

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

Files with missing lines	Coverage Δ
...rol/pid_controller_dp/src/pid_controller_utils.cpp	100.00% <100.00%> (+100.00%)	⬆️
...trol/pid_controller_dp/src/pid_controller_node.cpp	0.00% <0.00%> (ø)
control/pid_controller_dp/src/pid_controller.cpp	65.82% <59.01%> (+65.82%)	⬆️
...ol/pid_controller_dp/test/pid_controller_tests.cpp	58.75% <58.75%> (ø)
...ntrol/pid_controller_dp/src/pid_controller_ros.cpp	0.00% <0.00%> (ø)

... and 20 files with indirect coverage changes

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[Andeshog]

Since this is still a draft I wont comment on the debugs and prints and so on. But I do encourage utilizing Eta and Nu from vortex-utils, along with the relevant functions 👍 Also, when time comes it would be cool to see a version of the integration test utilizing this controller for a continuous proof of the quality 💯

[Andeshog]

Everything in this file exist in vortex-utils, and most is embedded in the Eta struct as well 😄

[Andeshog]

Consider using a yaml-based approach like Anbit did. Mixing this approach with a service call (Trigger) allows for the same dynamic reconfiguration, but without relying so much on ROS.

[Andeshog]

Is it not more tidy to have the parameters in vectors here?