Addition of position goal checker, fix of rotation shim controller (backport #5162)

[mergify]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #5094 )
Primary OS tested on	(Ubuntu)
Robotic platform tested on	( gazebo simulation of Tally)
Does this PR contain AI generated software?	(No)

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Description of contribution in a few bullet points

• Added a new plugin called position_goal_checker, which checks only the xy tolerance and ignores the yaw tolerance. Used the same plugin internally in Rotation Shim Controller.

Description of documentation updates required from your changes

• Added to documentation Link

Description of how this change was tested

• Validated RotationShimController in turtlebot simulation

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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

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This is an automatic backport of pull request #5162 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of bd8f422 has failed:

On branch mergify/bp/jazzy/pr-5162
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit bd8f422c.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	new file:   nav2_controller/include/nav2_controller/plugins/position_goal_checker.hpp
	modified:   nav2_controller/plugins.xml
	new file:   nav2_controller/plugins/position_goal_checker.cpp
	deleted:    nav2_rotation_shim_controller/include/nav2_rotation_shim_controller/tools/utils.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   nav2_controller/CMakeLists.txt
	both modified:   nav2_rotation_shim_controller/CMakeLists.txt
	both modified:   nav2_rotation_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp
	both modified:   nav2_rotation_shim_controller/package.xml
	both modified:   nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[mergify]

@mergify[bot], all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @jazzy, but it must be in main
to have these changes reflected into new distributions.