[backport] [RotationShimController] fix: rotate on short paths (#4716)

[RBT22]

Add header data to goal for short paths.

Commit d8ae3c1 added the possibility to the rotation shim controller to rotate towards the goal when the goal was closer that the forward_sampling_distance. This feature was not fully working as the goal was missing proper header data, causing the rotation shim to give back control to the main controller.

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Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)

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[emilnovak]

This may cause some behavioral changes when we update to jazzy. Decided that the current problem (short path is using MPPI for rotation) is not solved by this.