Fix use-after-free in SendGoal/SendRequest awaiters when cancelled before response#47
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If the awaiting coroutine is cancelled between async_send_goal() / async_send_request() and arrival of the server response, the response callback registered on the rclcpp(_action)::Client held a reference capture to the awaiter (`[this, h]`). On cancel the awaiter and its coroutine frame are destroyed; when the late response eventually arrives the callback dereferences freed memory, producing intermittent SIGSEGVs observed in sr01 test_cancel runs. Hold awaiter mutable state (done, cancelled, response/result) through a `std::shared_ptr<State>` and capture that shared_ptr by value in both the response callback and the cancel action. The callback now survives awaiter destruction and bails out on `state->done` (set by the cancel path) before touching the dangling coroutine handle. Adds test_send_goal_cancel, which reliably trips the UAF under ASan on an unfixed build and passes cleanly with the fix.
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