Add intermediate orientation override for smoother navigation flow

[ibrahimhroob]

What type of PR is this? (check all applicable)

• Refactor
• Feature
• Bug Fix
• Optimization
• Documentation Update

Description

This Pull Request (PR) aims to improve the path fluidity and efficiency for kinematically constrained robots (like Ackermann/car-like vehicles) when navigating through a sequence of waypoints (ComputePathThroughPoses).

The core issue this PR addresses is the robot stopping and unnecessarily rotating at intermediate waypoints because the underlying SmacPlannerHybrid (which uses kinematic models like Reeds-Shepp or Dubins) strictly enforces the orientation of every pose it receives.

Related Tickets & Documents

• Related Issue [BUG]: Global planner adheres to the orientation of the intermediate nodes. #211
• Closes #

QA Instructions, Screenshots, Recordings

Please replace this line with instructions on how to test your changes.

[optional] Are there any post deployment tasks we need to perform?

[marc-hanheide]

This looks very good and sensible. It may be a good discussion if this shouldn't actually be the default... or rather be the default in the actual goal. For instance, rather than prescribing this behaviour in the configuration in general we may want to make it part of the action we call? There may be use case where the previous behaviour is useful and wanted. E.g. for in row nav (e.g. for data gathering use cases on want to ensure a specific pose is reached).