Add PID controller to control joint using effort #147

	# This is a format job. Pre-commit has a first-party GitHub action, so we use
	# that: https://github.com/pre-commit/action

	name: Format

	on:
	workflow_dispatch:
	pull_request:

	jobs:
	pre-commit:
	name: Format
	runs-on: ubuntu-22.04
	steps:
	- uses: actions/checkout@v4
	- uses: actions/setup-python@v5
	with:
	python-version: 3.10.6
	- name: Install system hooks
	run: sudo apt install -qq cppcheck ament-cmake-uncrustify ament-cmake-pep257
	- uses: pre-commit/[email protected]
	with:
	extra_args: --all-files --hook-stage manual

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