Add symmetric goal for goal checker and mppi goal angle critic

[mini-1235]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	supersedes #5798
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)
Was this PR description generated by AI software?	Out of respect for maintainers, AI for human-to-human communications are banned

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Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

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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
• Should this be backported to current distributions? If so, tag with backport-*.

[codecov]

Codecov Report

❌ Patch coverage is 95.23810% with 1 line in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
..._mppi_controller/src/critics/goal_angle_critic.cpp	90.00%	1 Missing ⚠️

Files with missing lines	Coverage Δ
nav2_controller/plugins/simple_goal_checker.cpp	100.00% <100.00%> (ø)
...nav2_mppi_controller/critics/goal_angle_critic.hpp	100.00% <ø> (ø)
..._mppi_controller/src/critics/goal_angle_critic.cpp	95.65% <90.00%> (+7.41%)	⬆️

... and 28 files with indirect coverage changes

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• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[mini-1235]

@claude please backport this PR to Kilted, Jazzy, and Humble branch

[mini-1235]

@claude please backport this PR to Kilted, Jazzy, and Humble branch

@SteveMacenski should I open an issue for this? Or could you please help me to trigger this so that I don't have to backport manually :)

[SteveMacenski]

Go to "labels" and you should see a label for backporting to various distributions. If you just add that, a backport is automatically triggered using Mergify. I don't think this can be backported automatically though since MPPI using Eigen here but xtensor in other distributions. Its probably not 1:1.

An LLM agent is probably overkill 😆

[mini-1235]

Ok, I will just backport it manually since the author is requesting this feature in humble

[mini-1235]

I noticed that this actually breaks the ABI since we are adding member to it, is it OK to backport?

[SteveMacenski]

I don't worry about that as much currently. If it changes function signatures that are currently in use or changes the behavior of someone not using the feature, that's when I draw the line. Subjectively, also when the change is "large" enough that while I think it should be fine, out of risk management for existing users I would opt to not backport and make it a new feature in a new distribution to give it soaking time for issues to be uncovered.

The most important thing is to not break any current users in that distribution in terms of compilation or behavior.

New methods / members I think are OK as long as its confined to the inner workings of the class and no user impact could be predicted. Except for the BT Engine, where I know there are lots of users outside of Nav2, so I do not allow any breaks there.

Technically we shouldn't backport new members / methods, but I don't think that's in the spirit of the intent (and then we just wouldn't backport anything). If anyone challenged that policy due to need, then I've always been up to revisiting that, but so far none have.

[mini-1235]

Got it :)