Improve PID parameter validation (backport #510)

[mergify]

#507 (comment)

---

This is an automatic backport of pull request #510 done by Mergify.

[mergify]

Cherry-pick of 84a0c5c has failed:

On branch mergify/bp/jazzy/pr-510
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit 84a0c5c.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   control_toolbox/src/pid.cpp
	modified:   control_toolbox/test/pid_tests.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   control_toolbox/include/control_toolbox/pid.hpp
	both modified:   control_toolbox/include/control_toolbox/pid_ros.hpp
	both modified:   control_toolbox/src/pid_ros.cpp
	both modified:   control_toolbox/test/pid_ros_parameters_tests.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[codecov-commenter]

Codecov Report

❌ Patch coverage is 82.35294% with 3 lines in your changes missing coverage. Please review.
✅ Project coverage is 78.57%. Comparing base (44af78e) to head (1f4772d).

Files with missing lines	Patch %	Lines
control_toolbox/include/control_toolbox/pid.hpp	40.00%	0 Missing and 3 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy     #515      +/-   ##
==========================================
+ Coverage   78.22%   78.57%   +0.34%     
==========================================
  Files          28       28              
  Lines        2191     2189       -2     
  Branches      129      128       -1     
==========================================
+ Hits         1714     1720       +6     
+ Misses        404      396       -8     
  Partials       73       73              

Flag	Coverage Δ
unittests	78.57% <82.35%> (+0.34%)	⬆️

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

Files with missing lines	Coverage Δ
...ontrol_toolbox/include/control_toolbox/pid_ros.hpp	100.00% <ø> (ø)
control_toolbox/src/pid.cpp	72.72% <100.00%> (+0.53%)	⬆️
control_toolbox/src/pid_ros.cpp	63.07% <100.00%> (ø)
control_toolbox/test/pid_ros_parameters_tests.cpp	99.06% <100.00%> (+0.02%)	⬆️
control_toolbox/test/pid_tests.cpp	100.00% <ø> (ø)
control_toolbox/include/control_toolbox/pid.hpp	71.27% <40.00%> (+4.28%)	⬆️

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