(Later) Collision detection on undocking and docking approach

[SteveMacenski]

Possibly even check on the curvatures once I have the path to collision check. If too high, stage in staging pose relative to odom instead of making extreme go at it the first time (if very misaligned). Using navigation or using graceful controller?

[SteveMacenski]

https://github.com/ros-navigation/navigation2/issues/4404