Forward vz,wx,wy in velocity smoother

[mini-1235]

Feature request

Feature description

In my application, I have a custom controller that sends vx,vy,vz,wx,wy,wz to velocity smoother. Finally, the velocity smoother will smooth vx,vy,wz, I also need it to forward the original value to my application.

Implementation considerations

[SteveMacenski]

This seems easy enough.

• This block needs to be updated to work on all 6 axes: https://github.com/ros-navigation/navigation2/blob/main/nav2_velocity_smoother/src/velocity_smoother.cpp#L335-L390
• These parameters need to accept 6 sized limits: https://github.com/ros-navigation/navigation2/blob/main/nav2_velocity_smoother/src/velocity_smoother.cpp#L64-L115

The only thing for the parameter is that it would be good to accept either size 3 or 6. All need to be 3 or 6 (max, min, accel, deadband, etc) or throw an exception. Then we can just check on an internal variable if we're working on 2d or 3d data to put a conditional on whether we should filter the extra 3x axes.

Are you going to work on this? Should be a quick PR of mostly copy + paste and adding a new test just to exercise the 6DOF conditionals.

[mini-1235]

Are you going to work on this?

Yes, working on it

[SteveMacenski]

Great!