Smac revert changes kilted

[SteveMacenski]

This reverts the following commits on Kilted

c32873decf651b203d7da978bc307b7fbdc196ca
6a74ba61ca0ea117b2995dd0c8e266a5ec9741ba
f5543c39aba5d3302208bc6e9696e7cbd41de8c9

Which align to the PRs:

• Feat/smac planner include orientation flexibility #4127
• Nav2 smac planner minor bugfix #5198
• Prototype solving #5192 Issue 2: Reeds-Shepp reduce small reverse expansions #5207

That have caused a major regression we have not yet been able to identify

Another fix PR #5217 will be closed alongside. @stevedanomodolor make sure to include all 3x of these commits + this fix in a follow up PR that resolves

[codecov]

Codecov Report

Attention: Patch coverage is 95.71429% with 3 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_smac_planner/src/analytic_expansion.cpp	95.00%	2 Missing ⚠️
nav2_smac_planner/src/a_star.cpp	95.23%	1 Missing ⚠️

Files with missing lines	Coverage Δ
..._smac_planner/include/nav2_smac_planner/a_star.hpp	50.00% <ø> (ø)
...r/include/nav2_smac_planner/analytic_expansion.hpp	100.00% <ø> (ø)
...ac_planner/include/nav2_smac_planner/constants.hpp	100.00% <ø> (ø)
...smac_planner/include/nav2_smac_planner/node_2d.hpp	100.00% <ø> (ø)
..._planner/include/nav2_smac_planner/node_hybrid.hpp	95.65% <ø> (ø)
...planner/include/nav2_smac_planner/node_lattice.hpp	100.00% <ø> (ø)
...2_smac_planner/include/nav2_smac_planner/types.hpp	100.00% <ø> (ø)
nav2_smac_planner/src/node_2d.cpp	98.18% <100.00%> (ø)
nav2_smac_planner/src/node_hybrid.cpp	90.27% <100.00%> (ø)
nav2_smac_planner/src/node_lattice.cpp	90.80% <100.00%> (ø)
... and 4 more

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