Bug report

I guess there is some wrong with this line of code in https://github.com/ros-planning/navigation2/blob/main/nav2_util/include/nav2_util/simple_action_server.hpp#L577

The argument std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>> handle should change to std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>>& handle. Otherwise, the function terminate won't free the 'handle' correctly.

And if you send a wrong goal to a running action server as a pending goal, the code will terminate the pending goal with not free it. And then this function is_cancel_requested in https://github.com/ros-planning/navigation2/blob/main/nav2_util/include/nav2_util/simple_action_server.hpp#L449 will always return false cause the pending handle is not a nullptr.