Update robot state if time since last command exceeds timeout (backport #3251)

[mergify]

Description

When starting both move_group and moveit_servo simultaneously, controlling the arm with move_group first and then performing jog operations with moveit_servo resulted in the jog operations being executed from the arm's initial pose, without considering the results of the previous control.

To address this issue, the robot's state is now updated synchronously, halting other processes if no control commands are received for a duration exceeding the incoming_command_timeout, which indicates that no jog operations are being executed.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

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This is an automatic backport of pull request #3251 done by [Mergify](https://mergify.com).

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Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 44.50%. Comparing base (6c5e6ec) to head (df1c22d).
Report is 1 commits behind head on jazzy.

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Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #3334      +/-   ##
==========================================
+ Coverage   44.14%   44.50%   +0.36%     
==========================================
  Files         700      700              
  Lines       61727    61748      +21     
  Branches     7487     7487              
==========================================
+ Hits        27245    27474     +229     
+ Misses      34314    34107     -207     
+ Partials      168      167       -1     

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