[ROS2] Clean Termination of E-Stop Condition

[Amal Nanavati]

Currently, the e-stop condition doesn't close pyaudio or the stream. This can result in the number of channels detected for future calls to pyaudio being 0, until the machine restarts.

To address this, each watchdog condition should have a terminate method. The e-stop condition's terminate method specifically should contain:

self.stream.stop_stream()
self.stream.close()
self.audio.terminate()

Then, in ada_watchdog outside of the spin, we should call a terminate method of the watchdog, which in turn calls terminate for every condition.