Avoid deadlocks for failed command switching (backport #2774)

[mergify]

Maybe needed for #2733

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This is an automatic backport of pull request #2774 done by Mergify.

[codecov]

Codecov Report

❌ Patch coverage is 98.41270% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 89.47%. Comparing base (a8f6b18) to head (0271afe).
⚠️ Report is 1 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
...ace_testing/test/test_components/test_actuator.cpp	75.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #2796      +/-   ##
==========================================
+ Coverage   89.44%   89.47%   +0.02%     
==========================================
  Files         152      152              
  Lines       17642    17705      +63     
  Branches     1451     1453       +2     
==========================================
+ Hits        15780    15841      +61     
  Misses       1282     1282              
- Partials      580      582       +2     

Flag	Coverage Δ
unittests	89.47% <98.41%> (+0.02%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
controller_manager/src/controller_manager.cpp	76.93% <100.00%> (+0.02%)	⬆️
...ller_manager/test/test_controller_manager_srvs.cpp	99.37% <100.00%> (+0.03%)	⬆️
...ace_testing/test/test_components/test_actuator.cpp	88.73% <75.00%> (-0.82%)	⬇️

... and 1 file with indirect coverage changes

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