[ros2]: Fixed preempting of execution#363

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JafarAbdi wants to merge 3 commits intomoveit:ros2from JafarAbdi:pr-fix_preempt_execution

+16-4

Commits on May 26, 2022

Fixed preempting of execution: Action server starts thread when accepting the goal so it does not block the server from accepting a cancel request. While client is waiting for the result future, re…

wyattrees
authored and
JafarAbdi
committed
Use callback groups to be able to call cancellation while executing
JafarAbdi
committed
Revert impl
JafarAbdi
committed