Add new members for PID controller parameters (#1585)

(cherry picked from commit aebe6b1)

# Conflicts:
#	doc/migration.rst
#	doc/release_notes.rst

Author: ViktorCVS

doc/migration.rst

@@ -12,6 +12,7 @@ diff_drive_controller
 
 joint_trajectory_controller
 *****************************
+<<<<<<< HEAD
 
 * Parameter ``allow_nonzero_velocity_at_trajectory_end`` is now per default ``false`` (`#834 <https://github.com/ros-controls/ros2_controllers/pull/834>`_).
 * The parameter ``start_with_holding`` is removed, it now always holds the position at activation (`#839 <https://github.com/ros-controls/ros2_controllers/pull/839>`_).
@@ -30,3 +31,8 @@ steering_controllers_library
   * *bicycle_steering_controller*: Set ``traction_wheel_radius`` instead of ``front_wheel_radius``, ``rear_wheel_radius``.
   * *tricycle_steering_controller*: Set ``traction_wheels_radius`` instead of ``front_wheels_radius``, ``rear_wheels_radius``.
   * *ackermann_steering_controller*: Set ``traction_wheels_radius`` instead of ``front_wheels_radius``, ``rear_wheels_radius``, and ``traction_track_width`` (and optionally ``steering_track_width``, if it differs) instead of ``rear_wheel_track``, ``front_wheel_track``.
+=======
+* Parameters ``enable_feedforward`` and service ``set_feedforward_control`` are removed. Instead, set the feedforward_gain to zero or a non-zero value. (`#1553 <https://github.com/ros-controls/ros2_controllers/pull/1553>`_).
+* The legacy ``antiwindup`` boolean and integral clamp parameters ``i_clamp_max``/``i_clamp_min`` have
+  been deprecated in favor of the new ``antiwindup_strategy`` parameter (`#1585 <https://github.com/ros-controls/ros2_controllers/pull/1585>`__). Choose a suitable anti-windup strategy and set the parameters accordingly.
+>>>>>>> aebe6b1 (Add new members for PID controller parameters (#1585))

doc/release_notes.rst

@@ -86,3 +86,17 @@ gpio_controllers
 force_torque_sensor_broadcaster
 *******************************
 * Multiplier support was added. Users can now specify per–axis scaling factors for both force and torque readings, applied after the existing offset logic. (`#1647 <https://github.com/ros-controls/ros2_controllers/pull/1647/files>`__).
+<<<<<<< HEAD
+=======
+
+joint_trajectory_controller
+*******************************
+* The controller now supports the new anti-windup strategy of the PID class, which allows for more flexible control of the anti-windup behavior. (`#1759 <https://github.com/ros-controls/ros2_controllers/pull/1759>`__).
+
+pid_controller
+*******************************
+* The controller now supports the new anti-windup strategy of the PID class, which allows for more flexible control of the anti-windup behavior (`#1585 <https://github.com/ros-controls/ros2_controllers/pull/1585>`__).
+  * Output clamping via ``u_clamp_max`` and ``u_clamp_min`` was added, allowing users to bound the controller output.
+  * The legacy ``antiwindup`` boolean and integral clamp parameters ``i_clamp_max``/``i_clamp_min`` have been deprecated in favor of the new ``antiwindup_strategy`` parameter. A ``tracking_time_constant`` parameter has also been introduced to configure the back-calculation strategy.
+  * A new ``error_deadband`` parameter stops integration when the error is within a specified range.
+>>>>>>> aebe6b1 (Add new members for PID controller parameters (#1585))

pid_controller/src/pid_controller.yaml

@@ -65,23 +65,59 @@ pid_controller:
         default_value: 0.0,
         description: "Derivative gain for PID"
       }
+      u_clamp_max: {
+        type: double,
+        default_value: .inf,
+        description: "Upper output clamp."
+      }
+      u_clamp_min: {
+        type: double,
+        default_value: -.inf,
+        description: "Lower output clamp."
+      }
       antiwindup: {
         type: bool,
         default_value: false,
-        description: "Antiwindup functionality. When set to true, limits
+        description: "[Deprecated, see antiwindup_strategy] Anti-windup functionality. When set to true, limits
         the integral error to prevent windup; otherwise, constrains the
         integral contribution to the control output. i_clamp_max and
         i_clamp_min are applied in both scenarios."
       }
       i_clamp_max: {
         type: double,
         default_value: 0.0,
-        description: "Upper integral clamp."
+        description: "[Deprecated, see antiwindup_strategy] Upper integral clamp."
       }
       i_clamp_min: {
         type: double,
         default_value: 0.0,
-        description: "Lower integral clamp."
+        description: "[Deprecated, see antiwindup_strategy] Lower integral clamp."
+      }
+      antiwindup_strategy: {
+        type: string,
+        default_value: "legacy",
+        description: "Specifies the anti-windup strategy. Options: 'back_calculation',
+        'conditional_integration', 'legacy' or 'none'. Note that the 'back_calculation' strategy use the
+        tracking_time_constant parameter to tune the anti-windup behavior.",
+        validation: {
+          one_of<>: [[
+            "back_calculation",
+            "conditional_integration",
+            "legacy",
+            "none"
+          ]]
+        }
+      }
+      tracking_time_constant: {
+        type: double,
+        default_value: 0.0,
+        description: "Specifies the tracking time constant for the 'back_calculation' strategy. If
+        set to 0.0 when this strategy is selected, a recommended default value will be applied."
+      }
+      error_deadband: {
+        type: double,
+        default_value: 1.e-16,
+        description: "Is used to stop integration when the error is within the given range."
       }
       feedforward_gain: {
         type: double,