Output changes
Changes for local testing.
Ensuring mdp planner shuts down when asked.
Updated test executor to match mdp expectations, so now uses monitored navigation.
Added a stricter cancel for navigation and execution.

This new version does not wait to receive a callback from the cancelled action server. This is dangerous in that the next task may start while the previous task is still ending, but there isn't a huge problem with this in our current tasks. A better solution would be to wait a bit, then give up on waiting for the callback, but this is hard in the current design. Probably needs to be reimplemented as a state machine to make this cleaner.
Merge branch 'hydro-devel' of https://github.com/hawesie/strands_executive into hydro-devel

Conflicts:
	task_executor/scripts/task_routine_tester.py
	task_executor/scripts/test_task_action.py
	task_executor/src/task_executor/base_executor.py