Navigation with navigation2_simple_commander is suboptimal

[cpr-fer]

While moving the movable platform with PoseGoals over rviz results in good paths, doing the same with over the Python API works a lot worse. The platform takes detours, fails pose goals and starts unnecessary backup rotations. Also the robot never drives backwards.

This could be either an issue with the example code, e.g. not defining the rotation may cause unexpected behaviour, or an issue with the Nav2 configuration that only shows under certain conditions.

Also once this is done a short gif showcasing the example should be added to the irc_ros_example readme.

[cpr-fer]

Tasks I removed from the PRs scope but which remain to be done:

• [ ] Localisation should be properly used, most likely slam with lifelong mapping
• [ ] Collisions do not seem entirely impossible with the current settings, further testing is required