Add string error_msg to all action result messages (#4341)

[aosmw]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	4341
Primary OS tested on	Ubuntu
Robotic platform tested on	none
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

Added string error_msg to all action result messages and uint16 error_code where it was missing.

Description of documentation updates required from your changes

Notify interface change.

Future work that may be required in bullet points

Future work is to make the changes to the action implementations to populate the error_msg / error_code fields where appropriate.

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

see 1 file with indirect coverage changes