Fix backward motion for graceful controller (backport #4527)

[mergify]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses
Primary OS tested on	Ubuntu 22.04
Robotic platform tested on	Gazebo classic
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

• Fix computation of linear and angular velocities to allow correct backward motion.
• It can be backported to other branches.

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

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This is an automatic backport of pull request #4527 done by [Mergify](https://mergify.com).

[mergify]

@mergify[bot], all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @jazzy, but it must be in main
to have these changes reflected into new distributions.