Fix joint trajectory action cancel handling#40
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Summary
This PR adds proper action cancel handling for joint trajectory execution.
Previously, sending an action cancel request did not stop the joint motion.
While investigating this behavior, I found that cancel handling seems to have stopped working after the controller update that separated the controllers into head, arm, and hand controllers.
With this change, when an action cancel request is received, the current joint positions are held and the robot stops at its current posture.
Note that this behavior does not return the joints to their initial positions; it simply keeps the current joint states at the moment the cancel request is received.
Testing
The behavior was tested using the provided Gazebo simulator environment.
I do not currently own the physical hardware, so real robot testing has not been performed yet. However, the implementation is expected to behave correctly on the actual robot as well.
Additional Notes
This issue may also affect other robots in the SOBIT series, since the same controller architecture appears to be shared across multiple platforms.