Rework PID class API

.github/workflows/rolling-abi-compatibility.yml

@@ -20,3 +20,9 @@ jobs:
           ROS_REPO: testing
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
+          BASEDIR: ${{ github.workspace }}/.work
+      - uses: actions/[email protected]
+        if: always()
+        with:
+          name: abi-checker-report-${{ matrix.ROS_DISTRO }}
+          path: ${{ github.workspace }}/.work/abicheck/${{ github.base_ref }}

CMakeLists.txt

@@ -139,12 +139,12 @@ if(BUILD_TESTING)
   ament_add_gmock(rate_limiter_tests test/rate_limiter.cpp)
   target_link_libraries(rate_limiter_tests control_toolbox)
 
-  ament_add_gtest(pid_parameters_tests test/pid_parameters_tests.cpp)
-  target_link_libraries(pid_parameters_tests control_toolbox)
+  ament_add_gtest(pid_ros_parameters_tests test/pid_ros_parameters_tests.cpp)
+  target_link_libraries(pid_ros_parameters_tests control_toolbox)
 
-  ament_add_gtest(pid_publisher_tests test/pid_publisher_tests.cpp)
-  target_link_libraries(pid_publisher_tests control_toolbox)
-  ament_target_dependencies(pid_publisher_tests rclcpp_lifecycle)
+  ament_add_gtest(pid_ros_publisher_tests test/pid_ros_publisher_tests.cpp)
+  target_link_libraries(pid_ros_publisher_tests control_toolbox)
+  ament_target_dependencies(pid_ros_publisher_tests rclcpp_lifecycle)
 
   ## Control Filters
   # exponential_filter