[RST-7809] Port fix for negative pi initial conditions from ROS1 to ROS2#335

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svwilliams wants to merge 2 commits intorollingfrom RST-7809-fix-negative-pi-initial-conditions-rolling

+452-52

Commits on Aug 16, 2023

Add some unit tests for the 2D orientation constraints; Create getters/setters for the 2D orientation variable is preparation for a fix.
svwilliams
committed
Force the 2D orientation value to be is minimum phase
svwilliams
committed