move_group_interface: make async callbacks safe and track active goal handles #3618
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… handles Replace stack-captured state in plan(), move(), and execute() with heap-shared state captured by value in callbacks to avoid use-after-free when async methods return. Add mutex-protected `active_move_goal_handle_` and `active_execute_goal_handle_` members and cancel active goals in the destructor. Include <mutex> and <atomic>.
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The async methods previously captured stack variables by reference in callbacks. When the method returned, those variables were destroyed, causing use-after-free and memory corruption. The fix moves this state to heap-allocated shared objects captured by value, ensuring safe lifetime.
Mutex-protected goal handle members were added so the class can properly track, synchronize, and cancel active goals, restoring the ability to query action state similar to ROS1.