Fixed issue with backward docking and added initial in-place rotation

[Jakubach]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	ticket
Primary OS tested on	(Ubuntu 22.04)
Robotic platform tested on	(Gazebo simulation)
Does this PR contain AI generated software?	(No)

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Description of contribution in a few bullet points

• Fixed an issue with backward docking
• Added a initial rotation functionality
• Added a minimal angular velocity parameter which is used for initial rotation
• Updated readme file

Description of documentation updates required from your changes

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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

[SteveMacenski]

See ros-navigation/navigation2#4749 (review)

If it helps, maybe we just do reviews in the navigation2 version so we get it all hammered out there. Then once that is approved, we update this PR. I think that'll make your life easier than repeatedly doing the same thing 2x each review cycle. I could see that getting frustrating :-)