Feature Request: create3_coverage server should log start of actions, not only completion

[slowrunner]

When watching the explore action running, the bot is moving but there is no "Starting drive straight", "Starting Spiral", "Handling Hazard" (or "Back and Rotate"?) to indicate what is happening.

[INFO] [1635608924.038151337] [create3_coverage]: Accepting goal request
[INFO] [1635608924.040617706] [create3_coverage]: Executing goal
[INFO] [1635608924.097034238] [create3_coverage]: Reflexes are enabled on the robot!
[INFO] [1635608924.099398054] [create3_coverage]: Sending undocking goal!
[INFO] [1635608963.909060169] [create3_coverage]: Undocking succeeded!
[INFO] [1635608968.774922245] [create3_coverage]: Reached drive straight max distance: 0.250916
[INFO] [1635608998.841633768] [create3_coverage]: Spiral completed!
[INFO] [1635609001.608250178] [create3_coverage]: Stop driving straight: traveled 0.116123/5.000000: hazards 1 dock 0
[INFO] [1635609048.781359045] [create3_coverage]: Rotation completed: from -0.901778 to 2.134330
[INFO] [1635609058.547966186] [create3_coverage]: Reached drive straight max distance: 0.251280
[INFO] [1635609088.614677887] [create3_coverage]: Spiral completed!
[INFO] [1635609091.614681016] [create3_coverage]: Stop driving straight: traveled 0.138735/5.000000: hazards 1 dock 0
[INFO] [1635609130.881360213] [create3_coverage]: Rotation completed: from -2.568480 to -0.647966
[INFO] [1635609140.781295134] [create3_coverage]: Stop driving straight: traveled 0.173716/0.250000: hazards 1 dock 0
[INFO] [1635609142.847961009] [create3_coverage]: Aborting ROTATE because initial hazard is not getting cleared
[INFO] [1635609142.914624582] [create3_coverage]: Coverage action terminated