Add windows workflow

.github/workflows/rolling-semi-binary-build-win.yml

@@ -0,0 +1,31 @@
+name: Rolling Windows Semi-Binary Build
+# author: Christoph Fröhlich <[email protected]>
+# description: 'Build & test all dependencies from semi-binary packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - ros2-master
+    # types:
+    #   - labeled
+  push:
+    branches:
+      - ros2-master
+  # issue_comment:
+  #   types:
+  #     - created
+
+jobs:
+  binary-windows:
+    # if: |
+    #   (github.event_name == 'issue_comment' && contains(github.event.comment.body, '/check-windows')) ||
+    #   (github.event_name == 'pull_request' && contains(github.event.label.name, 'check-windows')) ||
+    #   (github.event_name == 'workflow_dispatch')
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@windows/pixi
+    with:
+      ros_distro: rolling
+      ref_for_scheduled_build: master
+      pixi_dependencies: typeguard jinja2 boost compilers
+      windows_dependencies: control_toolbox.windows.rolling.repos
+      ninja_packages: rsl

control_toolbox.windows.rolling.repos

@@ -0,0 +1,17 @@
+repositories:
+  filters:
+    type: git
+    url: https://github.com/christophfroehlich/filters.git
+    version: ros2-boost
+  cpp_polyfills:
+    type: git
+    url: https://github.com/PickNikRobotics/cpp_polyfills.git
+    version: main
+  rsl:
+    type: git
+    url: https://github.com/PickNikRobotics/RSL.git
+    version: main
+  generate_parameter_library:
+    type: git
+    url: https://github.com/PickNikRobotics/generate_parameter_library.git
+    version: main

control_toolbox/src/pid.cpp

@@ -428,7 +428,7 @@ double Pid::compute_command(double error, double error_dot, const double & dt_s)
   }
   else if (gains.antiwindup_strat_ == AntiwindupStrategy::CONDITIONAL_INTEGRATION)
   {
-    if (!(!iszero(cmd_unsat_ - cmd_) && error * cmd_unsat_ > 0))
+    if (!(!is_zero(cmd_unsat_ - cmd_) && error * cmd_unsat_ > 0))
     {
       i_term_ += dt_s * gains.i_gain_ * error;
     }