Add timer to action server to check expired goals + asan fixes (#343)

* Add timer to action server to check expired goals

* Fix leak in action_server

* Fix leaks and heap overflow errors

* Fix leaks in tests

rcl_action/include/rcl_action/action_server.h

@@ -343,6 +343,8 @@ rcl_action_send_goal_response(
  * rcl_action_send_goal_response().
  *
  * After calling this function, the action server will start tracking the goal.
+ * The pointer to the goal handle becomes invalid after `rcl_action_server_fini()` is called.
+ * The caller becomes responsible for finalizing the goal handle later.
  *
  * Example usage:
  *
@@ -621,6 +623,28 @@ rcl_action_expire_goals(
   size_t expired_goals_capacity,
   size_t * num_expired);
 
+/// Notifies action server that a goal handle reached a terminal state.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] action_server handle to the action server
+ * \return `RCL_RET_OK` if everything is ok, or
+ * \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_notify_goal_done(
+  const rcl_action_server_t * action_server);
+
 /// Take a pending cancel request using an action server.
 /**
  * \todo TODO(jacobperron) blocking of take?

rcl_action/include/rcl_action/wait.h

@@ -258,6 +258,7 @@ rcl_action_client_wait_set_get_entities_ready(
  *   to take, `false` otherwise
  * \param[out] is_result_request_ready `true` if there is a result request message ready
  *   to take, `false` otherwise
+ * \param[out] is_goal_expired `true` if there is a goal that expired, `false` otherwise
  * \return `RCL_RET_OK` if call is successful, or
  * \return `RCL_RET_WAIT_SET_INVALID` if the wait set is invalid, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
@@ -272,7 +273,8 @@ rcl_action_server_wait_set_get_entities_ready(
   const rcl_action_server_t * action_server,
   bool * is_goal_request_ready,
   bool * is_cancel_request_ready,
-  bool * is_result_request_ready);
+  bool * is_result_request_ready,
+  bool * is_goal_expired);
 
 #ifdef __cplusplus
 }