Change ClientInstance Registry insert to insert_or_assign #114
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Allows new RosAction-/RosTopic-/RosServiceClients to assign new ClientInstances into the Registry in the event that the old ClientInstance went out of scope.
For example, if a BehaviorTree with three RosServiceNodes to /foo is created, only one ServiceClient is constructed and is then shared between all clients. However, if that tree goes out of scope and destroys its service client, and a new instance is constructed, all three RosServiceNodes construct their own ServiceClient for a total of three service clients. This is because the insert function does not overwrite the expired weakptrs left in the registry.