[JTC] Cancel active goal in on_deactivate (backport #962)

[mergify]

This is an automatic backport of pull request #962 done by Mergify.

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[codecov]

Codecov Report

Attention: 9 lines in your changes are missing coverage. Please review.

Comparison is base (8fd5e83) 45.48% compared to head (943e624) 45.27%.
Report is 1 commits behind head on humble.

Additional details and impacted files

@@            Coverage Diff             @@
##           humble     #970      +/-   ##
==========================================
- Coverage   45.48%   45.27%   -0.22%     
==========================================
  Files          40       40              
  Lines        3713     3722       +9     
  Branches     1769     1780      +11     
==========================================
- Hits         1689     1685       -4     
- Misses        803      809       +6     
- Partials     1221     1228       +7     

Flag	Coverage Δ
unittests	45.27% <0.00%> (-0.22%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
...ory_controller/src/joint_trajectory_controller.cpp	46.68% <0.00%> (-1.06%)	⬇️