port drive on heading behavior to new gazebo

[stevedanomodolor]

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Basic Info

Info	Please fill out this column
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)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)

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Description of contribution in a few bullet points

• Port drive on heading behavior to new gazebo.
• Related issue Port nav2 systems test to new gazebo #4455

Description of documentation updates required from your changes

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.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

[mergify]

This pull request is in conflict. Could you fix it @stevedanomodolor?

[SteveMacenski]

Addressed the merge conflict. I'm seeing this fail 2x in a row, I'm rerunning against from start to check, but there may be something up with this one.

[stevedanomodolor]

Yeah, this behavior seems to happen with behavior tests. I am not sure either that. I will put it on draft untill i figure out why

[SteveMacenski]

Yeah, these aren't flaky, they're just failing most of the time :/ I suppose we could bin these under #4349 as 'fix and rewrite'? I think they all fail from the same kinds of issues of trying to do some really strange faking out of the behaviors. Similar to migrating to GZ, I think this is similarly a "figure it out once: copy paste for the rest"

Please do put in draft

[SteveMacenski]

@stevedanomodolor I'm pulling this into #4515 as I'm just rewriting the tests altogether with your base work on adding the new gazebo!