[backport] [RotationShimController] fix: rotate on short paths (#4716)

[RBT22]

Add header data to goal for short paths.

Commit d8ae3c1 added the possibility to the rotation shim controller to rotate towards the goal when the goal was closer that the forward_sampling_distance. This feature was not fully working as the goal was missing proper header data, causing the rotation shim to give back control to the main controller.

---

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)

---

Description of contribution in a few bullet points

Description of documentation updates required from your changes

---

Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.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