In the below part of the code (and other parts where we set action result) should be executed only once. One possibility to do this would be by using rt_has_pending_goal_ flag.

This should resolve the issue of #759 in a simpler way, without adding a new parameter which increases complexity. (@christophfroehlich FYI)

https://github.com/ros-controls/ros2_controllers/blob/1dac309979fb9392dc12feb6b46555582fed6fc6/joint_trajectory_controller/src/joint_trajectory_controller.cpp#L335C13-L341C56