hold position if tolerance is violated even during non-active goal

Author: Michael Wiznitzer

joint_trajectory_controller/src/joint_trajectory_controller.cpp

@@ -342,6 +342,11 @@ controller_interface::return_type JointTrajectoryController::update(
           // to be satisfied or violated within the goal_time_tolerance
         }
       }
+      else if (abort)
+      {
+        set_hold_position();
+        RCLCPP_ERROR(get_node()->get_logger(), "Holding position due to state tolerance violation");
+      }
     }
   }