Consider action to replace some of the services

[cmower]

There are some services that make more sense as actions.

Services that could potentially be actions:

• move_to_joint_state
• move_to_initial_joint_state
• move_to_eff_state

@joaomoura24 I remember you had looked into actions before, did you implement an action? Would appreciate any input/suggestions - or better, if you had time to re-implement these services as actions?