fix: correct external detection rotation in opennav_docking (#899)

* replace tf2::Quaternion::setEuler() with tf2::Quaternion::setRPY()
  - setEuler(p, r, y) rotation order: Rz(y) -> Rx(r) -> Ry(p)
  - setRPY(r, p, y) rotation order: Rx(r) -> Ry(p) -> Rz(y)
* the computed rotation remains the same in the following cases:
  - when yaw rotation equals 0.0, or
  - when roll and pitch rotations both equal 1.0
* non-default rotation that differs from the above cases will break

Implements documentation for ros-navigation/navigation2#6047

Signed-off-by: Nikolaos Drosinos <nikolaos.drosinos@ocado.com>

Author: nikolaos-drosinos

migration/Kilted.rst

@@ -202,6 +202,16 @@ Removed Parameter action_server_result_timeout
 Removed the parameter ``action_server_result_timeout`` from all action servers after resolution within ``rcl`` and ``rclcpp`` to address early goal removal.
 This is not longer required to be set.
 
+Dock Plugin External Detection Rotation
+---------------------------------------
+
+The external detection rotation order of ``Simple(Non)ChargingDock`` dock plugins has changed to the more natural Rx -> Ry -> Rz (was: Rz -> Rx -> Ry). From implementation point of view, ``setEuler()`` calls have been replaced with ``setRPY()``. The old behavior is retained only when
+
+- ``external_detection_rotation_yaw`` equals 0.0, or
+- ``external_detection_rotation_pitch`` and ``external_detection_rotation_roll`` both equal 0.0
+
+Non-default external detection rotation that differs from the above cases needs to be adjusted appropriately.
+
 Dock Plugin Detector Control
 ----------------------------