Fix bug in nav2_behavior_tree/bt_action_node (ros-navigation#3849)

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

---------

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

Author: CihatAltiparmak

nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp

@@ -151,6 +151,13 @@ class FibonacciAction : public nav2_behavior_tree::BtActionNode<test_msgs::actio
     return BT::NodeStatus::SUCCESS;
   }
 
+  BT::NodeStatus on_cancelled() override
+  {
+    config().blackboard->set<std::vector<int>>("sequence", result_.result->sequence);
+    config().blackboard->set<bool>("on_cancelled_triggered", true);
+    return BT::NodeStatus::SUCCESS;
+  }
+
   static BT::PortsList providedPorts()
   {
     return providedBasicPorts({BT::InputPort<int>("order", "Fibonacci order")});