Added rcl_timer_get_next_call_time (#1146)

[n8hui]

Add function rcl_timer_get_next_call_time to support humble backport of rclpy EventsExecutor (ros2/rclpy#1454).

Cherry-picked from commit 2e9549c (#1146)

[ahcorde]

Pulls: #1237
Gist: https://gist.githubusercontent.com/ahcorde/5bd65e2e0ca27ab1098c3a2218d70338/raw/046435f802f9811c8cc50aa7de21ced70d32169c/ros2.repos
BUILD args: --packages-above-and-dependencies rcl
TEST args: --packages-above rcl
ROS Distro: humble
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15908

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[fujitatomoya]

@n8hui why we are seeing the difference from #1146 original fix? which includes the improvements and tests. if the PR can be backported to humble, maybe we should cherry-pick entire fix from #1146? my major concern is the test and stability for this additional function, currently this PR just picks up the new function and never tested in rcl.

[jmachowinski]

@fujitatomoya I don't know, #1146 slightly alters the behavior of the waits. It does not fix a critical bug, just too much wakeups if simulation time is slower than real time. From my point of view Humble is outdated (event though official EOL is 2027) and its not worth the risk of introducing a regression of some kind.

[fujitatomoya]

@jmachowinski thanks! yeah we obviously want to avoid possible regression for humble, totally agree. if that is the case, probably we could add some unit tests for this free function just to make sure that works fine with CI? @n8hui can you add unit tests for this function with this PR?

[jmachowinski]

Pulls: #1237
Gist: https://gist.githubusercontent.com/jmachowinski/64f9d2df390edbcea11454e79b9b30df/raw/8feb2361b5352445c5829a5335832e3284ecd8e1/ros2.repos
BUILD args:
TEST args:
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16339

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[fujitatomoya]

Pulls: #1237
Gist: https://gist.githubusercontent.com/fujitatomoya/c12117dcf756ba19a62c45e27c803cf7/raw/50a17a217b446bad74fc7274cf9db56ba22b85c0/ros2.repos
BUILD args: --packages-above-and-dependencies rcl
TEST args: --packages-above rcl
ROS Distro: humble
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18288

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[n8hui]

@mjcarroll Could this be merged please?

[ahcorde]

@Mergifyio rebase

[ahcorde]

https://github.com/Mergifyio rebase

[mergify]

rebase

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[ahcorde]

Pulls: #1237
Gist: https://gist.githubusercontent.com/ahcorde/345d1a41df467dc05924742f4143dbdf/raw/50a17a217b446bad74fc7274cf9db56ba22b85c0/ros2.repos
BUILD args: --packages-above-and-dependencies rcl
TEST args: --packages-above rcl
ROS Distro: humble
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18857

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[ahcorde]

@fujitatomoya and @jmachowinski can we merge this one ?

[bjsowa]

@ahcorde Could you please make a new release? This is needed to backport EventsExecutor in rclpy to humble.

[ahcorde]

@bjsowa ros/rosdistro#50812