Remove everything except planning interface.
Use member NodeHandle in action clients.

Currently services and topics are already using the member NodeHandle instance,
but not the action clients.

This is relevant for two reasons:
- Consistency in the resulting ROS API namespace (everything in the same namespace).
- Consistency in the spinning policy. All services, topics and actions will be spinned
  by the same NodeHandle, and whatever custom (or not) spinners and callback queues it
  has associated.