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[JTC] Add pid gain structure to documentation (ros-controls#485) (ros…
…-controls#543) * Add pid gain structure to documentation * Remove trailing whitespace * Remove trailing colons (cherry picked from commit e0a373ab09cdf8c268bc3c8d14c4a3c0db59b724) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
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