Revert "fix: add custom error class"

This reverts commit a4f9725.

Author: EzraBrooks

src/core/Action.ts

@@ -14,34 +14,6 @@ import {
 import type Ros from "./Ros.ts";
 import { v4 as uuidv4 } from "uuid";
 
-export class GoalError extends Error {
-  constructor(status: GoalStatus | number | string, baseError?: unknown) {
-    const base = typeof baseError === "string" ? baseError : "";
-    let message: string;
-
-    switch (status) {
-      case GoalStatus.STATUS_CANCELED:
-        message = `Action was canceled${base ? `: ${base}` : ""}`;
-        break;
-      case GoalStatus.STATUS_ABORTED:
-        message = `Action was aborted${base ? `: ${base}` : ""}`;
-        break;
-      case GoalStatus.STATUS_CANCELING:
-        message = `Action is canceling${base ? `: ${base}` : ""}`;
-        break;
-      case GoalStatus.STATUS_UNKNOWN:
-        message = `Action status unknown${base ? `: ${base}` : ""}`;
-        break;
-      default:
-        message = `Action failed with status ${String(status)}${base ? `: ${base}` : ""}`;
-    }
-
-    super(message);
-    this.name = "GoalError";
-    Object.setPrototypeOf(this, GoalError.prototype);
-  }
-}
-
 /**
  * A ROS 2 action client.
  */
@@ -101,12 +73,32 @@ export default class Action<
       if (isRosbridgeActionResultMessage<TResult>(message)) {
         const status = message.status as GoalStatus;
 
-        // Validates both status and result
+        // Check status code instead of result field to properly handle STATUS_CANCELED
         if (status === GoalStatus.STATUS_SUCCEEDED && message.result) {
           resultCallback(message.values);
         } else {
-          const errorMessage: GoalError = new GoalError(status, message.values);
-          failedCallback(String(errorMessage));
+          const baseError =
+            typeof message.values === "string" ? message.values : "";
+
+          let errorMessage: string;
+          switch (status) {
+            case GoalStatus.STATUS_CANCELED:
+              errorMessage = `Action was canceled${baseError ? `: ${baseError}` : ""}`;
+              break;
+            case GoalStatus.STATUS_ABORTED:
+              errorMessage = `Action was aborted${baseError ? `: ${baseError}` : ""}`;
+              break;
+            case GoalStatus.STATUS_CANCELING:
+              errorMessage = `Action is canceling${baseError ? `: ${baseError}` : ""}`;
+              break;
+            case GoalStatus.STATUS_UNKNOWN:
+              errorMessage = `Action status unknown${baseError ? `: ${baseError}` : ""}`;
+              break;
+            default:
+              errorMessage = `Action failed with status ${String(status)}${baseError ? `: ${baseError}` : ""}`;
+          }
+
+          failedCallback(errorMessage);
         }
       } else if (isRosbridgeActionFeedbackMessage<TFeedback>(message)) {
         feedbackCallback?.(message.values);