Hi,
There is no information on the following parameters or what the vectors values are / do inside of the pids:
pid_heading [Vector7d] [default=Vector7d((double){1.0, 0.1, 0.0, 0.25, -0.25, 1.0, -1.0})]: Parameters of pid controller that controls the heading error
pid_pos_y [Vector7d] [default=Vector7d((double){1.0, 0.1, 0.0, 0.25, -0.25, 2.0, -2.0})]: Parameters of pid controller that controls the latteral error
pid_pos_x [Vector7d] [default=Vector7d((double){1.0, 0.1, 0.0, 0.25, -0.25, 2.0, -2.0})]: Parameters of pid controller that controls the forward error
also Vector7d doesnt exist in the documentation.