Fix action node halt - #134
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The
halt()method cancels the ROS action goal but lefts the node's NodeStatus at RUNNING. BT::Tree's destructor always calls haltTree(), so if the tree is explicitly halted and then destroyed, halt() is called twice. Calling the cancelGoal for the second time throws an uncaughtrclcpp_action::exceptions::UnknownGoalHandleErrorand crashes the process.This is already done in bt_service_node