Remove AMCL dependency from RPP

[jncfa]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4185
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

Replaces the nav2_amcl::angleutils usage in RPP with angles and drops the dependency to nav2_amcl, which in this case was being used just for one angle normalization call.

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 navigation.ros.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

[mergify]

@jncfa, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

Perfect, thank you! A much better solution 😄