Feature/gravity pd controller#1956

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my-rice wants to merge 13 commits intoros-controls:masterfrom

unisa-acg:feature/gravity_pd_controller

Commits on Sep 4, 2025

[ADD] Add gravity compensation PD controller implementation and documentation
Davide Risi
committed

Commits on Sep 7, 2025

[MAK] Remove unused dependencies from CMakeLists.txt
Davide Risi
committed

Commits on Sep 16, 2025

[FIX] Fix pre-commit errors
Davide Risi
committed

Commits on Sep 29, 2025

[ADD] Add tests for gravity compensation PD controller
my-rice
committed
[REF] Refactor GravityCompensationPDController tests for clarity
my-rice
committed
[TST] Add gravity compensation PD controller tests for parameter validation
my-rice
committed

Commits on Sep 30, 2025

[REF] Update robot description and dynamics solver parameters in test configurations
my-rice
committed

Commits on Oct 1, 2025

Commits on Oct 2, 2025

[DOC] Add Gravity Compensation Controller documentation and update test configuration parameters
Davide Risi
committed

Commits on Oct 6, 2025

Merge branch 'master' of github.com:unisa-acg/ros2_controllers_gravity_pd_controller into feature/gravity_pd_controller
my-rice
committed

Commits on Oct 18, 2025

[FIX] Set eigen_effort_command_ to zero when gravity compensation is disabled
Davide Risi
committed
[REF] Use constructor for Eigen::Map in compute_control_law_ method
Davide Risi
committed