Add cancel timeout when cancelling actions (backport Jazzy)

[mini-1235]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	backport #5895
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
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-*.

[mergify]

@mini-1235, 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.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
...tree/include/nav2_behavior_tree/bt_action_node.hpp	86.15% <100.00%> (+0.10%)	⬆️
...ee/include/nav2_behavior_tree/bt_action_server.hpp	83.33% <ø> (ø)
...clude/nav2_behavior_tree/bt_action_server_impl.hpp	88.60% <100.00%> (+1.02%)	⬆️

... and 25 files with indirect coverage changes

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