Fix connection to action server - [ENG 680]

[varunshankar]

Proposed changes:

• Fixes ENG-680
• set KEEP_ALIVE_TIMEOUT to 120

Status (please check what you already did):

• [ ] added some tests for the functionality
• [ ] updated the documentation
• [ ] updated the changelog (please check changelog for instructions)
• [x] reformat files using black (please check Readme for instructions)

[CLAassistant]

All committers have signed the CLA.