fix: Prevent short time endless loop in expire_timer (backport #1303)

[mergify]

There were multiple bugs in this area:

• The expire of goals and the re computation of the expire period had a < vs <= issue, leading to goals not expiring, while the period for the next expire was compute as 0 leading to a direct recall of the expire timer. In combination with sim time this lead to 100% CPU spikes.
• The period of the expire timer was changed after the reset of the timer, leading to an incorrect next call time of the timer.
• The timer was not canceled after the expire event was issued

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This is an automatic backport of pull request #1303 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of 927a33e has failed:

On branch mergify/bp/jazzy/pr-1303
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	both modified:   rcl_action/src/rcl_action/action_server.c

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[skyegalaxy]

this part of the PR is ABI breaking and different from how action goal expiration was handled in Jazzy. We can remove this part and backport the rest of the changes to Jazzy (and Kilted as well, in combination with the action goal expiration backport)

[christophebedard]

@skyegalaxy or @jmachowinski: would one of you want to take care of this?