Added rotate acorn and misc changes to approach acorns

toid_navigation/params/toid_general_params.yaml

@@ -37,6 +37,10 @@ behavior_server:
       plugin: "toid::MoveCoords"
     approachAcorns:
       plugin: "toid::ApproachAcorns"
+      kphi: 2.0
+      kdelta: 1.0
+      lambda: 2.0
+      debug_marker: true
     local_frame: map
     global_frame: map
     robot_base_frame: base_footprint