Added dynamic reconfigure and export controller in docking

[ajtudela]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses
Primary OS tested on	Ubuntu 22.04
Robotic platform tested on	Clara and Morphia robots
Does this PR contain AI generated software?	Nop

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Description of contribution in a few bullet points

1. I added the callback for dynamic reconfigure to tune the docking controller in runtime.
2. The docking controller is a library so can be used for other packages.

Description of documentation updates required from your changes

I don't think so.

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.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

[ajtudela]

How are we going to manage this type of changes with respect to the repository in opennav, do I apply the same changes there or leave the other unchanged?