Trajectory execution does not stop when goal is aborted.

[martiniil]

At least that is what I observed testing the joint_trajectory_controller.

Eventhough the goal is aborted, the trajectory stays and the controller tries to execute it. Imho this can lead to unpredictable behaviour.

        if (!checkStateTolerancePerJoint(state_joint_error_, joint_tolerances.state_tolerance))
        {
          if (verbose_)
          {
            ROS_ERROR_STREAM_NAMED(name_,"Path tolerances failed for joint: " << joint_names_[i]);
            checkStateTolerancePerJoint(state_joint_error_, joint_tolerances.state_tolerance, true);
          }
          rt_segment_goal->preallocated_result_->error_code =
          control_msgs::FollowJointTrajectoryResult::PATH_TOLERANCE_VIOLATED;
          rt_segment_goal->setAborted(rt_segment_goal->preallocated_result_);
          rt_active_goal_.reset();
          successful_joint_traj_.reset();
        }

[martiniil]

Same as #48