[FEATURE]: Implement a PID controller for velocity control

[evan-palmer]

Feature Type

Adding new functionality to the project

Problem Description

A common baseline algorithm to benchmark new controllers against is PID control. It would be valuable to implement a simple PID velocity controller into the package.

Feature Description

Design a simple PID control algorithm to perform velocity control of a marine vehicle. This should be integrated and tested using a simulation environment (and preferably on hardware).

Alternative Solutions

N/A

Additional Context

N/A

[evan-palmer]

We shouldn't need to implement a custom PID velocity controller. The ros2_controllers PID controller should cover this functionality.

[evan-palmer]

Actually, this should stay open