Rpp curve regulation reference cycle

[Aposhian]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	N/A
Primary OS tested on	Ubuntu
Robotic platform tested on	Custom: Sim and Real

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Description of contribution in a few bullet points

Introduce option to set lookahead for curvature detection to a fixed distance. This breaks a reference cycle that becomes especially problematic with long lookaheads.

Description of documentation updates required from your changes

Added two new parameters.

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Future work that may be required in bullet points

Determine if there is a way to derive this metric so that it can be enabled by default for all users

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.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

[SteveMacenski]

No real complaints -- though CI running is odd. Try rebasing?

[Aposhian]

Ok, the fork for our main branch must have been polluted when I was trying to run CI. I just rebased on upstream main.

[Aposhian]

param guide here: ros-navigation/docs.nav2.org#390

[SteveMacenski]

Still a few items above, but just details