Address wait set index bug

[amalnanavati]

Sometimes, when creating action clients, rosbridge logs an error regarding the wait set index. This doesn't appear to be affecting the functionality of the app, which is why we have left it for now. However, it should be looked into and addressed.

My hunch is it has something to do with not properly canceling/destroying the action client? It is not fully reproducible, but one time it has repeatedly arisen for me is after I have completed a whole bite and I click "Done With Bite" and it goes back to MoveAbovePlate. See the below image.