GitLab

Fix formatting of error message.

Fix logs

fix CI

  The duration of each iteration was not logged in the line corresponding to
  the other data. The bug has been fixed and a test has been added to check
  the good functioning of the circular buffer.

to fix build on 20.04

fix submodule url

Add warning msg + Fix optionnal dep temperature_sensor_controller

[Effort Mode] Add default PD controller when no control

Improve logging.