Controller plugins include goal checker when computing commands

[SteveMacenski]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#2223
Primary OS tested on	Ubuntu
Robotic platform tested on	Sim TB3

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Description of contribution in a few bullet points

• Added a goal checker pointer to the controllers so that they may access its information while computing commands
• If it returns true, the controller could use that information to halt
• Add function to goal checkers so that a plugin can access more particular information, like the XY vs yaw tolerance met to rotate in place, or robot "done" speed requirements so that it can dissect more information.
• Use these getTolerance parameters in RPP rather than any parameters duplicated across it

Description of documentation updates required from your changes

• Add to documentation migration guide this API changed
• Remove parameters duplicated now removed from RPP in config page

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Future work that may be required in bullet points

? N/A ?

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 functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page

[pabloinigoblasco]

Changes look good to me.

[SteveMacenski]

#2252 superseded