Add cancel timeout when cancelling actions (backport #5895)

[mergify]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	closes #4659
Primary OS tested on	Ubuntu
Robotic platform tested on	Tb4
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)
Was this PR description generated by AI software?	Out of respect for maintainers, AI for human-to-human communications are banned

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Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
• Should this be backported to current distributions? If so, tag with backport-*.

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This is an automatic backport of pull request #5895 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of 640196a has failed:

On branch mergify/bp/jazzy/pr-5895
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit 640196af.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
	modified:   nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp
	modified:   nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp
	modified:   nav2_bringup/params/nav2_params.yaml
	modified:   nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
	both modified:   nav2_system_tests/src/system/nav2_system_params.yaml

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[mergify]

@mergify[bot], all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @jazzy, but it must be in main
to have these changes reflected into new distributions.