Added collision detection for docking (backport #4752)

[mergify]

---

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4404
Primary OS tested on	Ubuntu 24.04
Robotic platform tested on	Morphia
Does this PR contain AI generated software?	No

---

Description of contribution in a few bullet points

• Added optional collision checking on docking / undocking.

Description of documentation updates required from your changes

---

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

---

This is an automatic backport of pull request #4752 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.