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Removed access to deleted PidState fields in pub
Remove references to the fields that were deleted from the PidState.msg in the publish function, ensuring consistency between the message definition and its usage.
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src/pid_ros.cpp

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@@ -351,7 +351,6 @@ void PidROS::publish_pid_state(double cmd, double error, rclcpp::Duration dt)
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rt_state_pub_->msg_.p_gain = gains.p_gain_;
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rt_state_pub_->msg_.i_gain = gains.i_gain_;
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rt_state_pub_->msg_.d_gain = gains.d_gain_;
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rt_state_pub_->msg_.trk_tc = gains.trk_tc_;
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rt_state_pub_->msg_.output = cmd;
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rt_state_pub_->unlockAndPublish();
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}

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