Publish PID integrator state for joint velocity and position controllers

PR2 / pr2_controllers

The controllers that run in realtime on the PR2 and supporting packages.

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Publish PID integrator state for joint velocity and position controllers #405

Open v4hn opened 2 years ago

v4hn commented 2 years ago

melodic version of #375 .

@k-okada I am currently debugging similar controller issues and this value is indeed important to understand the behavior of the controller. If you are ok with changing the message definition in this branch, I would still like to merge this upstream.