What is the origin of the idiom "take up the cudgels" and when to use it?

The idiom "take up the cudgels" originated in the late 16th century and is derived from the literal act of wielding cudgels as weapons. Cudgels were short, thick sticks used in combat during that time. In a figurative sense, this expression is often used when discussing debates, arguments, or contentious issues where individuals passionately advocate for their beliefs.