Rotation movement subtree added

src/xml/nav_rotation_main_tree.xml

+<root main_tree_to_execute="NAV_3D_ROTATION_MAIN">
+
+    <BehaviorTree ID="NAV_3D_ROTATION_MAIN">
+      <Fallback>
+        <SubTree ID="go_to_orientation_nav_3d" yaw_goal="yaw_in" heading_tol_goal="heading_tol_in"update_goal="update_goal_in" status="NAV_3D_BT_status_out" frame_id="frame_id_in"/>
+        <ForceFailure>
+          <Sequence>
+            <Action ID="get_current_status_nav_3d" status_code="{NAV_3D_BT_status_out}"/>
+            <!-- If navigation fails we stop the movement of the robot -->
+            <Action ID="sync_stop_nav_3d"/>
+            <!-- We are not waiting until the navigation really stops -->
+          </Sequence>
+        </ForceFailure>
+      </Fallback>
+    </BehaviorTree>
+
+    <BehaviorTree ID="go_to_orientation_nav_3d">
+      <Sequence>
+        <Action ID="set_goal_frame_nav_3d" frame_id="{frame_id}"/>
+        <RetryUntilSuccesful num_attempts="3">
+          <ReactiveFallback>
+            <Sequence>
+              <Timeout msec="60000">
+                <Action ID="async_go_to_orientation_nav_3d" yaw="{yaw_goal}" heading_tol="{heading_tol_goal}" update_goal="{update_goal}"/>
+              </Timeout>
+              <Condition ID="is_succeded_nav_3d"/>
+            </Sequence>
+            <Sequence>
+              <Condition ID="is_preempted_nav_3d"/>
+              <Timeout msec="5000">
+                <Action ID="NOP"/>
+              </Timeout>
+            </Sequence>
+          </ReactiveFallback>
+        </RetryUntilSuccesful>
+        <Action ID="get_current_status_nav_3d" status_code="{status}"/>
+      </Sequence>
+    </BehaviorTree>
+
+</root>