Fix upstream Pid class deprecation warnings

[christophfroehlich]

We have a bit of chaos with i clamping on jazzy

in JTC we have the i_clamp_max/min in the parameter yaml, but don't use it in the code.

I fixed the tests to be working with ros-controls/control_toolbox#507 and silence hundred lines of deprecation warnings.

[christophfroehlich]

@ViktorCVS can you have a look please if this makes sense?

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 84.66%. Comparing base (1aad51b) to head (cd639e3).

Additional details and impacted files

@@           Coverage Diff           @@
##            jazzy    #1959   +/-   ##
=======================================
  Coverage   84.66%   84.66%           
=======================================
  Files         138      138           
  Lines       13408    13410    +2     
  Branches     1197     1198    +1     
=======================================
+ Hits        11352    11354    +2     
  Misses       1643     1643           
  Partials      413      413           

Flag	Coverage Δ
unittests	84.66% <100.00%> (+<0.01%)	⬆️

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

Files with missing lines	Coverage Δ
...ory_controller/src/joint_trajectory_controller.cpp	82.89% <ø> (-0.05%)	⬇️
...ory_controller/test/test_trajectory_controller.cpp	99.78% <100.00%> (+<0.01%)	⬆️
...ntroller/test/test_trajectory_controller_utils.hpp	84.33% <100.00%> (+0.14%)	⬆️

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[ViktorCVS]

@ViktorCVS can you have a look please if this makes sense?

Yes, this makes sense, I support this change.