Add Action.cancelAllGoals()

[ikwilnaarhuisman]

The Ros1 ActionClient has the functionality that allows all goals to be canceled that were associated with the ActionClient. I thought this was very nice and useful, but missing in the Ros2 implementation of the Action / ActionClient.

Because I'm working on a project that allows for multiple users / clients to send goals and cancel those goals I don't have the correct goalID nor the means to really get it. Hence why I think this is useful.

Changes:

• Added cancelAllGoals -> cancels all goals for an action.
• Added integration tests
  • Added ROS2 fibonacci integration test based on the ROS1 fibonacci integration test. (There's an issue in the fibonacci server though; it doesn't return the correct order. But this doesn't change anything for the implementation of the test).
  • Added an integration test that verifies (based on fibonacci Action) that cancelAllGoals works, by checking whether failedCallback was invoked and not resultCallback.

[ikwilnaarhuisman]

@EzraBrooks Because process.env["ROS_VERSION"] === "2" didn't work for skipping specific tests I chose to use process.env["ROS_DISTRO"] === "humble" because this is the only ros2 version the pipeline uses. I think in the future we may want to fix / set process.env["ROS_VERSION"] because of jammy.

[EzraBrooks]

Awesome, thanks!

[ikwilnaarhuisman]

No problem, happy to help! We at Lowpad are very thankful for this repo!