Docking/undocking implementation

[aaronchongth]

More information discussed here, https://github.com/open-rmf/rmf/discussions/643

Possible references for implementation,

• https://iroboteducation.github.io/create3_docs/api/docking/
• https://github.com/ros-navigation/navigation2/tree/main/nav2_docking

With possibly many different ways to initiate docking and undocking, after an initial implementation (testable with simulation), we should consider making this function plugin-based too.

[aaronchongth]

With #194, the implementation can be partitioned into its own plugin, as a custom perform-action

edit: plugins can be considered later down the road, we can probably stick to parameterizing on/off from the configs first

[aaronchongth]

@aionescu-cpr thanks for the discussion, here's a comment from my colleague that summarizes well with examples too https://github.com/open-rmf/rmf/discussions/643#discussioncomment-12572125

edit: I believe we can only assign tickets to users that are collaborators in the project, which will be subject to PMC approval. As of now, I'd just put it in writing first, that @aionescu-cpr has been assigned this ticket.