Cleanup duplicate entries in the msg definition (#299)

Author: christophfroehlich

src/pid_ros.cpp

@@ -283,12 +283,10 @@ void PidROS::publish_pid_state(double cmd, double error, rclcpp::Duration dt)
       rt_state_pub_->msg_.timestep = dt;
       rt_state_pub_->msg_.error = error;
       rt_state_pub_->msg_.error_dot = d_error;
-      rt_state_pub_->msg_.p_error = p_error;
-      rt_state_pub_->msg_.i_error = i_term;
-      rt_state_pub_->msg_.d_error = d_error;
-      rt_state_pub_->msg_.p_term = gains.p_gain_;
-      rt_state_pub_->msg_.i_term = gains.i_gain_;
-      rt_state_pub_->msg_.d_term = gains.d_gain_;
+      rt_state_pub_->msg_.i_term = i_term;
+      rt_state_pub_->msg_.p_gain = gains.p_gain_;
+      rt_state_pub_->msg_.i_gain = gains.i_gain_;
+      rt_state_pub_->msg_.d_gain = gains.d_gain_;
       rt_state_pub_->msg_.i_max = gains.i_max_;
       rt_state_pub_->msg_.i_min = gains.i_min_;
       rt_state_pub_->msg_.output = cmd;