[JTC] Deactivating controller while action is executed: invalid transition

[christophfroehlich]

Describe the bug
Deactivating the controller while a an action is executed gives a warning with realtime_tools:

[ros2_control_node-6] [WARN] [1707917083.196860704] [realtime_tools]: goal_handle attempted invalid transition from state EXECUTING with event CANCELED, at /opt/ros2_ws/src/ros2/rcl/rcl_action/src/rcl_action/goal_handle.c:95

Environment (please complete the following information):

• OS: debian
• Version humble
• source build

Additional context
This was introduced with #962

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.