Add option to use open-loop control with Rotation Shim

[RBT22]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	NA
Primary OS tested on	Ubuntu
Robotic platform tested on	own robot hardware
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

Description of documentation updates required from your changes

New parameter description needed and migration guide.

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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

[codecov]

Codecov Report

Attention: Patch coverage is 78.94737% with 4 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
...m_controller/src/nav2_rotation_shim_controller.cpp	78.94%	4 Missing ⚠️

Files with missing lines	Coverage Δ
..._shim_controller/nav2_rotation_shim_controller.hpp	100.00% <ø> (ø)
...m_controller/src/nav2_rotation_shim_controller.cpp	93.51% <78.94%> (-1.81%)	⬇️

... and 2 files with indirect coverage changes

[SteveMacenski]

There are some pretty reasonable blocks of code without coverage, so I think this needs some tests to cover those gaps by enabling the setting and checking for the expected outputs without odometry feedback

Otherwise, LTGM!

[SteveMacenski]

Small docs nitpick and I can merge the pair!

[SteveMacenski]

Whoops, missed one.

If you have a goal then stop navigating for some time, then start navigating again, the state will be stale. If the goal is canceled mis-spin, then the last value will not be reset

We should override reset() in the controller and reset the value to max there as well. The reset() was added to the controller API a little while ago for exactly these kinds of between-request state clearing operations

https://github.com/ros-navigation/navigation2/blob/main/nav2_controller/src/controller_server.cpp#L766

[SteveMacenski]

Thanks!