Fix slotcar final orientation

[kjchee]

Bug fix

Fixed bug

Robots do not rotate to the requested final orientation.

Fix applied

a. Root cause:
When a caller (specifically when processing final destination orientation) passes dpos = Zero() along with a requested_heading, the early-return if (dpos.norm() < 1e-3) always triggers first and returns 0.0. The requested_heading is never processed, so the function reports rotation change = 0.0.

b. Fix:
Added a && !requested_heading check so the early-return doesn't trigger when the caller actually requests a rotation.

c. To Test:

1. launch office

ros2 launch rmf_demos_gz office.launch.xml

2. send robot to a patrol_A2 with specific orientation 90 degree

ros2 run rmf_demos_tasks dispatch_go_to_place -p patrol_A2 -o 90 --use_sim_time

[xiyuoh]

Great catch! Thanks for the fix, tested and works as expected

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 0.00%. Comparing base (d9c2a90) to head (79448ce).
⚠️ Report is 47 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff            @@
##             main   #162       +/-   ##
=========================================
  Coverage    0.00%      0               
=========================================
  Files        1368      0     -1368     
  Lines      134666      0   -134666     
=========================================
+ Misses     134666      0   -134666     

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