Action result not updated due to race condition with RealtimeServerGoalHandle

[dcconner]

See discussion at #48 for joint_trajectory_controller

It appears that after the rt_active_goal_ is reset on success or aborting, the RealtimeServerGoalHandle is destroyed and sometimes the runNonRealtime function is not called to publish the result.

This would apparently be a race condition between the checkTolerances function exiting and the runNonRealtime getting called by the timer.

One idea I had was to pass the rt_sement_goal_ pointer into the setAborted/Succeded function instead of just the result, storing that with the req_result_, then resetting that self referencing pointer after the runNonRealtime is called.

Thoughts?