Merge branch 'feature/improved-platform-controller' into dev

data/armarx_navigation/controller_config/PlatformTrajectory/default.json

@@ -11,8 +11,8 @@
       "Kd": 0
     },
     "limits": {
-      "linear": 300,
-      "angular": 0.2
+      "linear": 500,
+      "angular": 0.5
     }
   },
   "targets": {

source/armarx/navigation/local_planning/TimedElasticBands.cpp

@@ -93,6 +93,8 @@ namespace armarx::navigation::local_planning
         cfg_.hcp.switching_blocking_period = 0;
 
         cfg_.pse.weight_global_path = 0.6;
+
+        cfg_.trajectory.global_plan_overwrite_orientation = true;
     }
 
     std::optional<LocalPlannerResult>