Support for executing regular actions

[Rezenders]

It would be interesting to be able to execute regular actions (non durative-action).
Right now, the following error occurs when trying to execute regular actions:

[domain_expert_node-1] [WARN] [1725038660.536800793] [domain_expert]: Requesting a non-existing durative action [start_robot]
[executor_node-4] [ERROR] [1725038660.537287642] [executor]: /domain_expert/get_domain_durative_action_details: Durative action not found

If I understood correctly, this error comes from:

ros2_planning_system/plansys2_executor/src/plansys2_executor/ExecutorNode.cpp

Lines 375 to 376 in a797196

	domain_client_->getDurativeAction(
	get_action_name(plan_item.action), get_action_params(plan_item.action));

I am not sure what is the best way to implement this feature.
Extend the ActionExecutionInfo struct to support regular actions then check whether the action is a regular or durative action when constructing the action map?

Related to #317

[Rezenders]

I propose two possible solutions

1 - Simple hacky one. Convert Actions to DurativeActions, something like:

auto action = domain_client_->getAction(
      get_action_name(plan_item.action), get_action_params(plan_item.action));
plansys2_msgs::msg::DurativeAction::SharedPtr durative_action;
durative_action->name = action->name;
durative_action->over_all_requirements = action->preconditions;
durative_action->at_end_effects = action->effects;

Then everywhere in the action execution pipeline where getDurativeAction is called, we also try to call getAction and convert it to a durative action.

2 - In ActionExecutionInfo make durative_action_info a variant (something like #323 ):

struct ActionExecutionInfo
{
  std::shared_ptr<ActionExecutor> action_executor = {nullptr};
  bool at_start_effects_applied = {false};
  bool at_end_effects_applied = {false};
  rclcpp::Time at_start_effects_applied_time;
  rclcpp::Time at_end_effects_applied_time;
  std::variant<std::shared_ptr<plansys2_msgs::msg::Action>, std::shared_ptr<plansys2_msgs::msg::DurativeAction>> action_info = {nullptr};
  std::string execution_error_info;
  double duration;
  double duration_overrun_percentage = -1.0;
};

Then everywhere in the action execution pipeline where getDurativeAction is called, we also try to call getAction and initialize action_info accordingly.
Build the execution BT without CheckAtEndReq and ApplyAtStartEffect for regular actions.
Check action_info type when accessing elements in CheckOverAllReq and ApplyAtEndEffect.