Augment actions with failure reasons

[sea-bass]

This goes along with #177, but seeks to extend the actions to have failure reasons.

My first idea is for the failure reasons to be fairly minimal, e.g.

• Failed to plan (e.g., path planning or grasp planning did not return solutions)
• Failed to execute (e.g., new information was discovered that invalidates a currently executing action)
• Failed to resolve (e.g., a target object was not found)
• Timed out

Then, the resulting ROS 2 actions should also return an enumeration code and a free-form string describing the error.