Add enable_feedforward parameter (backport #1553) #1689
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(cherry picked from commit dc53641)
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Added a parameter to enable feedforward of the controller during configuration of the controller.
#1270 also mentions that there is currently no option to enable the feedforward gain with the exception of the service which can be unreliable to do from a launchfile.
Another option would be to set the state depending on the value of the feedforward gain but this could cause unexpected behaviour for users that have the value set but expect current behaviour.
This is an automatic backport of pull request #1553 done by Mergify.