Fix and complement multi-group motion capabilities

- Implement watchdog timer to check the entire robot (all robot groups) feedback state reception.
- Increase error checking for "global"/"multi-group" trajectory goals for the `JointTrajectoryAction` server.
- Implement goal abortion/cancel capabilities for the "global/multi-group" `JointTrajectoryAction` server. 
- Implement `JointTrajectoryAction::withinGoalConstraints` function for "global"/"multi-group" trajectory goals. *Note: previous implementation of this function was not working*.

motoman_driver/include/motoman_driver/industrial_robot_client/joint_trajectory_action.h

@@ -129,7 +129,11 @@ class JointTrajectoryAction
   bool has_active_goal_;
 
   std::map<int, bool> has_active_goal_map_;
-
+  /**
+   * \brief Indicates which groups are active on `multi-group` action goals, 
+   * Note: independant of `has_active_goal_map_` which handles single group goals.
+   */
+  std::map<int, bool> multi_group_active_goals_map_;  
   /**
    * \brief Cache of the current active goal
    */