replace "rclcpp::ok()" by atomic-flag to avoid UAF bug

[GoesM]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#691
Primary OS tested on	Ubuntu22.04
Robotic platform tested on	gazebo simulation of Tally

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Description of contribution in a few bullet points

• add an atomic-flag for threads

Description of documentation updates required from your changes

• avoid UAF bug caused by rclcpp::ok() 's wrong work

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Future work that may be required in bullet points