fix: 修复 TEB local planner 符号链接错误

- 在 optimal_planner.h 中添加缺失的 node_ 成员变量声明
- 修复 teb_local_planner_ros.cpp 中的异常类型（ControllerException -> PlannerException）

这修复了启动时的符号未定义错误：
undefined symbol: _ZN17teb_local_planner17TebOptimalPlannerC1E...

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/optimal_planner.h

@@ -710,6 +710,7 @@ protected:
   RotType prefer_rotdir_; //!< Store whether to prefer a specific initial rotation in optimization (might be activated in case the robot oscillates)
   
   // internal objects (memory management owned)
+  nav2_util::LifecycleNode::SharedPtr node_; //!< ROS2 lifecycle node pointer
   TebVisualizationPtr visualization_; //!< Instance of the visualization class
   TimedElasticBand teb_; //!< Actual trajectory object
   RobotFootprintModelPtr robot_model_; //!< Robot model

src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/teb_local_planner_ros.cpp

@@ -200,7 +200,7 @@ void TebLocalPlannerROS::configure(
 
   auto node = std::dynamic_pointer_cast<nav2_util::LifecycleNode>(nh_.lock());
   if (!node) {
-    throw nav2_core::ControllerException(
+    throw nav2_core::PlannerException(
       "Failed to cast controller parent node to nav2_util::LifecycleNode");
   }
   logger_ = node->get_logger();