Feature request

Feature description

Option to disable publishZeroVelocity in the controller server.

Implementation considerations

For our use case, we would like to start a new path when driving so our end state is not necessarily standing still. We would like to have full control of the command velocity references within our controller. Related issues in move base flex (ros1 implementation that we were using):

• mbf publishes zero cmd_vel if computeVelocityCmd returns False naturerobots/move_base_flex#195
• Publish zero velocity when reached to goal.  naturerobots/move_base_flex#109

Would it be possible to register a new parameter for the controller_server, e.g. publish_zero_velocity that defaults to true and use this parameter in an if statement for this line?

Thanks!