[JTC]: Abort goal on deactivate (backport #1517)

[mergify]

Currently, when deactivating the JTC once a trajectory is being executed leads to the following problems:

• The trajectory doesn't stop
• The trajectory doesn't end in a result, as it doesn't get stopped.
• The controller's shell gets flooded with [ros2_control_node-1] [WARN] [1737719032.541174555] [realtime_tools]: goal_handle attempted invalid transition from state EXECUTING with event CANCELED, at ./src/rcl_action/goal_handle.c:95 (See scaled_joint_trajectory_controller does not behave as expected when stop is pressed on the robot UniversalRobots/Universal_Robots_ROS2_Driver#1250)

I narrowed that down to the RealtimeServerGoalHandle calling gh_->canceled which is supposed to be called only, once the goal is already cancelling according to its documentation. The transition doesn't succeed and hence that message gets repeated in every cycle of the non-realtime-thread, and the action never terminates.

I've added a test for that event in this PR and a possible solution: Calling setAborted instead of setCanceled in the JTC when it is being deactivated does work. I also think, this is a valid feedback to the user, as the goal isn't preempted by the user but it is aborted due to the controller going down.

---

This is an automatic backport of pull request #1517 done by Mergify.

[codecov]

Codecov Report

Attention: Patch coverage is 66.66667% with 17 lines in your changes missing coverage. Please review.

Project coverage is 66.85%. Comparing base (f5c4c3c) to head (876aa4d).
Report is 1 commits behind head on humble.

Files with missing lines	Patch %	Lines
...ectory_controller/test/test_trajectory_actions.cpp	66.00%	3 Missing and 14 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1521      +/-   ##
==========================================
+ Coverage   66.76%   66.85%   +0.08%     
==========================================
  Files         114      114              
  Lines       13409    13459      +50     
  Branches     8288     8334      +46     
==========================================
+ Hits         8953     8998      +45     
- Misses       1435     1436       +1     
- Partials     3021     3025       +4     

Flag	Coverage Δ
unittests	66.85% <66.66%> (+0.08%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...ory_controller/src/joint_trajectory_controller.cpp	82.03% <100.00%> (+0.99%)	⬆️
...ectory_controller/test/test_trajectory_actions.cpp	84.38% <66.00%> (-1.49%)	⬇️

... and 3 files with indirect coverage changes