Fix align frame controller still executing when smach is killed

[eminmeydanoglu]

Sometimes we kill the state machine mid task. At such times, some command velocity is still published by align frame controller. Not sure what the align frame controller tries to align to, maybe the frame it was trying to align itself before the smach is killed. But there were times I observed the robot moves at random and unexpected places, which might suggest the robot is trying to align somewhere else, or (x) there is some other bug causing the unwanted behaviour.

Whatever, the point is that when the smach is killed, we don't want to align anywhere apart from our current position. So we can either;

1. Call the disable service of align frame controller
2. Or align to taluy/base_link. Then there is no error, and cmd_vel is 0.
   when we kill the smach. (We can use ctrl+c as the trigger)

I think the second option is more plausible. And this will probably solve the problem of unexpected behaviour (if x is not true)