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When updating controller params, the controller dt could be updated without updating the feedback controller's dt.
This commit switches from virtual C-stye variadic method implementations for debug(), info(), warning(), and error() to variadic template implementations with internal virtual methods that could be overwritten by subclasses. This allows easier wrapping around the RCLCPP logging framework set up in ROS 2. Switching to variadic templates also allows for a potential future change to allow device-side logging with more limited functionality (no colored output wrapping or file stream selection for printing). As I'm still unsure how to address the device-side storage of the logger across multiple different classes safely, this will be left for future changes.
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These commits address a couple of issues related to parameter configuration in the library. The first commit adds the ability in the plant to update the sampling distribution parameters in a multi-threaded scenario. The second fixes a small bug where updating the dt through
setParams()of the Controller class would not update the dt of its feedback controller.