Controller FollowPath feedback: Fix wrong frame in distance calculation, add more info to feedback

[adivardi]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses
Primary OS tested on	Ubuntu 24.04, Jazzy branch
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

• Fix a bug in controller's feedback computation: The robot pose was not transformed to the path pose, which gave wrong (and often changing) results
• Added closest_path_pose_idx and distance_to_path to the feedback
• very small fix in nav2_behavior_tree/nav2_tree_nodes.xml

Description of documentation updates required from your changes

none (?)

Description of how this change was tested

Tested on a Gazebo simulation of our robot, using Jazzy (same commits, just based on jazzy)

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Future work that may be required in bullet points

Open question for discussion: Should the feedback from the FollowPath action be written into the Blackboard in the BT action node (follow_path_action)?

• see commit Write FollowPath Feedback to blackboard (reverted for now)
• Could also apply to any other action

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

[codecov]

Codecov Report

Attention: Patch coverage is 92.30769% with 1 line in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_controller/src/controller_server.cpp	92.30%	1 Missing ⚠️

Files with missing lines	Coverage Δ
...ller/include/nav2_controller/controller_server.hpp	100.00% <ø> (ø)
nav2_controller/src/controller_server.cpp	83.66% <92.30%> (+0.03%)	⬆️

... and 1 file with indirect coverage changes