Added RPP use_cancel_deceleration parameter

[JatinPatil2003]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #4238 )
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)

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Description of contribution in a few bullet points

• Added parameter for using cancel decleration in RPP (Regulated Pure Pursuit Controller)
• Issue: [RPP] Make new deceleration on cancelation an option #4238

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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

[padhupradheep]

LGTM! Tested it as well!

Great job @JatinPatil2003 Thanks for the contribution

[padhupradheep]

@JatinPatil2003 Could you please also give in a PR for the documentation? Then we can get this inn..

Thanks!

[JatinPatil2003]

I have opened a PR for documentation ros-navigation/docs.nav2.org/pull/567

[SteveMacenski]

Thanks @JatinPatil2003 and @padhupradheep - great contributions!

[padhupradheep]

was about to press merge @SteveMacenski :-D