feat: Improve action unadvertising

[bjsowa]

Public API Changes
None

Description
Previously, action servers were never actually destroyed and just left hanging. This PR improves the logic so that now, when an action gets unadvertised:

1. Any new goals are rejected.
2. Pending goals are aborted
3. When the last goal finishes, action server destruction is scheduled 1 second into the future to allow all action results to be sent.

The test confirms that the user can advertise the action, unadvertise the action and then advertise the action with the same name again.

I'm still not sure whether action_server.destroy() is perfectly safe but I didn't experience any crashes when testing it.

[bjsowa]

@Mergifyio backport kilted jazzy humble

[mergify]

backport kilted jazzy humble

✅ Backports have been created

Details

• #1252 feat: Improve action unadvertising (backport #1248) has been created for branch kilted but encountered conflicts

Cherry-pick of cfd0646 has failed:

On branch mergify/bp/kilted/pr-1248
Your branch is up to date with 'origin/kilted'.

You are currently cherry-picking commit cfd0646.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   rosbridge_library/src/rosbridge_library/capabilities/send_action_goal.py
	modified:   rosbridge_library/test/capabilities/test_action_capabilities.py

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

• #1253 feat: Improve action unadvertising (backport #1248) has been created for branch jazzy but encountered conflicts

Cherry-pick of cfd0646 has failed:

On branch mergify/bp/jazzy/pr-1248
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit cfd0646.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   rosbridge_library/src/rosbridge_library/capabilities/send_action_goal.py
	modified:   rosbridge_library/test/capabilities/test_action_capabilities.py

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

• #1254 feat: Improve action unadvertising (backport #1248) has been created for branch humble but encountered conflicts

Cherry-pick of cfd0646 has failed:

On branch mergify/bp/humble/pr-1248
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit cfd0646.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   rosbridge_library/src/rosbridge_library/capabilities/send_action_goal.py
	modified:   rosbridge_library/test/capabilities/test_action_capabilities.py

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally