You can check out the pose_follower local planner if you need to track a sequence of poses with orientations. It is much much simpler than DWA, but may not give you the same quality of motion, depending on how good your global planner is, how spaced are the poses in the global plan, and what are the dynamics of your vehicle.

I guess there is no issue with modifying the DWA implementation to use orientations, because it already stores the global plan as a vector of poses. You could for instance implement an additional trajectory critic to prefer trajectories that align with orientations along the path.