Recovery: RotateRecovery turns in place when there is no path

[fmrico]

Closes #127

RotateRecovery is a new movement mitigation for ERROR diagnostics from the planner (NoPathEvaluator).

• What it does. It turns in place, a full turn by default, so the sensors look all around. Then it stands still for settle_time seconds so the planner can replan, and succeeds.
• Once per episode. If the diagnostic returns within episode_gap seconds, the turn did not help, and the mitigation fails at once so the manager escalates to the next one, e.g. HumanAssistanceRecovery. It also fails if the turn times out, for instance when the collision reflex blocks it.
• Parameters: angle (2π; negative turns clockwise), angular_speed (0.5), settle_time (2.0), timeout (0: twice the expected time plus 5 s), episode_gap (30.0), hardware_ids ([planner]).
• Usage. It is not added to any configuration. To use it, give it a lower priority number than human_assistance.

Seven new tests cover:

• selection and control;
• turning in both directions;
• accumulating the angle across ±π;
• settling;
• once per episode;
• a new episode after a gap;
• the timeout;
• invalid parameters.

In simulation, with the warehouse and an unreachable goal, it turned a full turn, waited, escalated when there was still no path, and HumanAssistanceRecovery then asked for help.