Pending module improvements

Improvements already done in other modules that must be done here

1. Change new_goal port and bt_definitions to inout.
2. Set a value on output ports before any return.
3. Modify async_cancel to not check the finished status. It must return true.
4. Update to timer management inside action module.
5. Update to new base_bt_client structure.

assigned to @alopez

changed title from Pending module improvments to Pending module improvements

changed the description

closed