Provide feedback during ExecuteTaskSolution action

[rhaschke]

Alternative implementation to #652

[codecov-commenter]

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Codecov Report

Attention: Patch coverage is 92.85714% with 1 line in your changes missing coverage. Please review.

Project coverage is 59.03%. Comparing base (9ea1692) to head (af9c82a).
Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
...abilities/src/execute_task_solution_capability.cpp	92.86%	1 Missing ⚠️

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Additional details and impacted files

@@            Coverage Diff             @@
##           master     #653      +/-   ##
==========================================
+ Coverage   59.02%   59.03%   +0.02%     
==========================================
  Files          97       97              
  Lines        9001     9004       +3     
==========================================
+ Hits         5312     5315       +3     
  Misses       3689     3689              

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[DaniGarciaLopez]

Just a quick remark. If we keep it as is now (publishing the feedback only after the subtrajectory finishes), I think it makes more sense to use i + 1 here to match what is parsed in exec_traj.description_. Otherwise, if we decide to publish feedback at the start of the subtrajectory as well, publishing 0 initially would be reasonable.