ActionServer cancelRequestHandler() missing goalHandler param

[wayneparrott]

While implementing an ActionServer I noticed the CancelCallback fn declaration is missing the GoalHandle parameter.

rclnodejs/types/action_server.d.ts

Line 87 in 755a7a6

type CancelCallback = () => Promise<CancelResponse> | CancelResponse;

Based on the ROS2 C++ action api the CancelCallback declaration should be:

type CancelCallback<T extends TypeClass<ActionTypeClassName>> = (
    goalHandle: ServerGoalHandle<T>
  ) => Promise<CancelResponse> | CancelResponse;

Additionally, test-action-server.js includes 2 test cases that need small modification to reflect this change.