fix: Fixed race condition in action server between is_ready and take (humble) #2635
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Related bug: #2242. I managed to create a situation in which I can easily replicate it as many times as I wanted.
This bug was already fixed in rolling (#2495) and iron (#2531).
I just backported the fix based on the iron fix. Now I test it and works perfectly all the times I run my node.
I tried to do it as clean as possible (fortunately the iron fix didn't touch header files and all the function prototypes where the same between iron and humble).