Fix action server goal expiration and correct broken test assertions … #100

Job	Run time
build-and-test / build (25.X, x64, rolling)	13m 45s
build-and-test / build (24.X, x64, jazzy)	8m 11s
build-and-test / build (25.X, x64, humble)	7m 3s
build-and-test / build (25.X, x64, kilted)	8m 7s
build-and-test / build (24.X, x64, kilted)	8m 12s
build-and-test / build (24.X, x64, rolling)	13m 37s
build-and-test / build (24.X, x64, humble)	7m 23s
build-and-test / build (25.X, x64, jazzy)	7m 39s
	1h 13m 57s

Provide feedback