Yea, dynamic reconfigure throws warnings if a shared mutex is not provided to it at initialization, but I wasn't sure where else to use the mutex and could not find documentation on this. There is only one location in the Pid code where it updates the values of the dynamic reconfigure parameters, and I had experimentally done this:

```
param_reconfig_mutex_.lock();
param_reconfig_server_->updateConfig(config);
param_reconfig_mutex_.unlock();
``

Does that look right? This is only called 1) when Pid is initialized and 2) when a process calls the ``setGains()`` function of Pid.