Docking action succeeds but not centered on dock

[slowrunner]

The bug Docking action succeeds but Create3 model is not in valid "Charging Position" on dock

To Reproduce

1. (Unbuntu 22.04, ROS 2 Humble or Galactic, update/upgrade, clone create3_sim main, rosdep, build, source setups, run classic gazebo)

   ros2 launch irobot_create_gazebo_bringup create3_gazebo.launch.py

2. Undock, Move, Dock:
   • pub undock

     ros2 action send_goal /undock irobot_create_msgs/action/Undock "{}"

     

• pub move to -1,0 w: 1

  
  ros2 action send_goal /navigate_to_position irobot_create_msgs/action/NavigateToPosition "{achieve_goal_heading:true,goal_pose:{pose:{position:{x: -1,y: 0,z: 0.0}, orientation:{x: 0.0,y: 0.0, z: 0.0, w: 1.0}}}}"

![Screenshot 2023-12-09 at 11 40 24 AM](https://github.com/iRobotEducation/create3_sim/assets/8950202/a08b7197-e3a1-4c52-a22c-3711d99c2679)

- pub dock goal:

ros2 action send_goal /dock irobot_create_msgs/action/Dock "{}"

(Or /DockServo for Galactic - same issue Galactic or Humble)

![miss-docked](https://github.com/iRobotEducation/create3_sim/assets/8950202/e1883eaf-d73e-48e9-b9f9-a25fb9b0f447)

3. Echo dock_status, odom
![Screenshot 2023-12-09 at 11 07 25 AM](https://github.com/iRobotEducation/create3_sim/assets/8950202/e39df985-b19a-4369-a08b-ea611ae9a8f6)

**Expected behavior:**   Return to dock in "Charging Position"

**Additional context**

$ uname -a Linux FU22 6.2.0-37-generic #38~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Thu Nov 2 18:01:13 UTC 2 x86_64 x86_64 x86_64 GNU/Linux

$ more /etc/os-release PRETTY_NAME="Ubuntu 22.04.3 LTS" NAME="Ubuntu" VERSION_ID="22.04" VERSION="22.04.3 LTS (Jammy Jellyfish)"

(20.04 used for Galactic test)

$ dpkg -l | grep gazebo11 ii libgazebo11:amd64 11.10.2+dfsg-1 amd64 Open Source Robotics Simulator - shared library

$ more package.xml <?xml version="1.0"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematype ns="http://www.w3.org/2001/XMLSchema"?>

irobot_create_gazebo_sim 2.0.0 ``` Update: I see [that this was first reported two years ago](https://github.com/iRobotEducation/create3_sim/issues/142#issue-1085815249), not closed as working as designed and not fixed. Is this actually working as designed? Does the simulation odometry error approximate what is seen with the physical Create3?

[slowrunner]

Suggest adding a reset of odometry when dock status docked changes from false to true. This will allow the “drift” but correct the odometry based on known “localization”.