Add new critic so we don't need path_align/use_path_orientations

[corot]

The new critic is a copy-paste of PathAlignCritic but with only the part enabled by use_path_orientations.
This allow us to fix the problem of robot not spinning to go to a path pointing backward but disabling PathAlignCritic, cause with it robot follows the path too closely

If we adopt it, better to do a proper cleanup of the uneeded parts. I keep this as draft meanwhile

Configuration

  path_heading:
      enabled: true
      cost_power: 1.0
      cost_weight: 5.0
      threshold_to_consider: 0.0  # must be lower than goal distance tolerance
      offset_from_furthest: 1  # ensures robot spins in place before following the path
      trajectory_point_step: 0
      max_path_occupancy_ratio: 0.07

And disable path_align and path_angle