AMRNAV-1988 Migrate backup BT nodes to DriveOnHeading

[AnastasiaPittel]

see https://lvserv01.logivations.com/browse/AMRNAV-1988

revert changes to backup and add this to drive_on_heading

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists