Use RealtimeThreadSafeBox for PID class (backport #387)

[mergify]

ros-controls/realtime_tools#347

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This is an automatic backport of pull request #387 done by Mergify.

[mergify]

Cherry-pick of 4a64d8f has failed:

On branch mergify/bp/jazzy/pr-387
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit 4a64d8f.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   control_toolbox/include/control_toolbox/pid_ros.hpp
	modified:   control_toolbox/src/pid.cpp
	modified:   control_toolbox/src/pid_ros.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   control_toolbox/include/control_toolbox/pid.hpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally