Support for ROS Actions

[rjohn-v]

ROS actions are a essential part of the workflow for several ROS enabled robots.
The MCP server needs to enable access to these in order to fully support them

[tracelarue]

Has there been any progress on this? I'd like to give it a try.

[stex2005]

@tracelarue I am currently working on it. Will send a PR soon.

Update: @tracelarue PR is out. Some bugs are still there, but the main functionality is working just fine.

[stex2005]

@tracelarue for now I am providing support only for ros2

[stex2005]

Working on providing action_feedback throughout the process.

added get_action_status()

Returning status according to this:

https://docs.ros2.org/foxy/api/action_msgs/msg/GoalStatus.html

[stex2005]

@tracelarue you can check it out here now #142