If executing a workcell BT fails at any step, the reason for the failure should be included in the result when aborting the goal_handle in _handle_command_failed(). Then we need to ensure the SO aborts it's goal while passing along the reason for failure.
If executing a workcell BT fails at any step, the reason for the failure should be included in the
resultwhen aborting the goal_handle in _handle_command_failed(). Then we need to ensure the SO aborts it's goal while passing along the reason for failure.