added disengage_threshold

[sandeepdutta]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Jeeves , Hardware)
Does this PR contain AI generated software?	(No)

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Description of contribution in a few bullet points

Description of documentation updates required from your changes

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[sandeepdutta]

Hi Steve,

Here is the PR you requested
Sandeep

[mergify]

@sandeepdutta, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @humble, but it must be in main
to have these changes reflected into new distributions.

[SteveMacenski]

@sandeepdutta thanks for the PR. I agree with the premise but I disagree about the implementation. Let me draft up a new PR for you to take a look at which should implement the same thing (and then I can backport that to Humble)

[SteveMacenski]

@sandeepdutta can you please review and test #4699? If this works for you, I can backport to Humble as well. New PR supersedes, so I'm closing this one if that's OK!