adding disengagement param to docs

Signed-off-by: Steve Macenski <[email protected]>

configuration/packages/configuring-rotation-shim-controller.rst

@@ -39,7 +39,18 @@ Rotation Shim Controller Parameters
   ============== ===========================
 
   Description
-    Maximum angular distance, in radians, away from the path heading to trigger rotation until within.
+    Maximum angular distance, in radians, away from the path heading to trigger rotation
+
+:angular_disengage_threshold:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  double         0.3925
+  ============== ===========================
+
+  Description
+    Angular distance, in radians, away from the path heading to rotation until within (new as of Oct 1, 2024 - previous behavior rotated until ``angular_dist_threshold``).
 
 :forward_sampling_distance:
 

migration/Jazzy.rst

@@ -99,3 +99,9 @@ In `PR #4675 <https://github.com/ros-navigation/navigation2/pull/4675>`_ a ``pub
 Default value:
 
 - true
+
+Rotation Shim Disengagement Threshold
+*************************************
+
+The parameter ``angular_disengage_threshold`` was introduced as a new threshold for disengagement of the rotation in the rotation shim controller.
+Previous behavior rotated until the ``angular_dist_threshold``, now it can rotate until the ``angular_disengage_threshold``, which can be set closer to the path's orientation if desired.