PID class does not depend on rclcpp #383

Job	Run time
binary (humble, main) / humble main	3m 34s
binary (humble, testing) / humble testing	3m 11s
binary (iron, main) / iron main	3m 28s
binary (iron, testing) / iron testing	3m 29s
binary (jazzy, main) / jazzy main	3m 26s
binary (jazzy, testing) / jazzy testing	3m 15s
binary (rolling, main) / rolling main	3m 48s
binary (rolling, testing) / rolling testing	3m 26s
	27m 37s

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