Addition of position goal checker, fix of rotation shim controller

[PrabhavSaxena]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #5094 )
Primary OS tested on	(Ubuntu)
Robotic platform tested on	( gazebo simulation of Tally)
Does this PR contain AI generated software?	(No)

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Description of contribution in a few bullet points

• Added a new plugin called position_goal_checker, which checks only the xy tolerance and ignores the yaw tolerance. Used the same plugin internally in Rotation Shim Controller.

Description of documentation updates required from your changes

• Added to documentation Link

Description of how this change was tested

• Validated RotationShimController in turtlebot simulation

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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]

@PrabhavSaxena, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[codecov]

Codecov Report

Attention: Patch coverage is 66.66667% with 23 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_controller/plugins/position_goal_checker.cpp	62.71%	22 Missing ⚠️
...m_controller/src/nav2_rotation_shim_controller.cpp	88.88%	1 Missing ⚠️

Files with missing lines	Coverage Δ
.../nav2_controller/plugins/position_goal_checker.hpp	100.00% <100.00%> (ø)
..._shim_controller/nav2_rotation_shim_controller.hpp	100.00% <ø> (ø)
...m_controller/src/nav2_rotation_shim_controller.cpp	92.92% <88.88%> (-0.34%)	⬇️
nav2_controller/plugins/position_goal_checker.cpp	62.71% <62.71%> (ø)

... and 8 files with indirect coverage changes

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[mini-1235]

Can we backport this to Jazzy? :)

[SteveMacenski]

I don't see why not

[mini-1235]

I don't see why not

Thanks @SteveMacenski !

[SteveMacenski]

@mini-1235 it would not able to be autobackported #5176. Can you do a backport PR and I can merge that in?

[mini-1235]

@mini-1235 it would not able to be autobackported #5176. Can you do a backport PR and I can merge that in?

Sure