I see that @clalancette recently switched to MONOTONIC from MONOTONIC_RAW in #357 in order to have it similar to std::chrono::steady_clock representation.

I've also seen the discussion in the issue: #43. However, I think that we should align more towards the MONOTONIC_RAW because if I want to use the steady_clock provided by rcutils for the ros2_control applications, I want it to be slew-free rather than being affected by any internal clock change. For instance, Industrial grade motor control boards with EtherCAT protocol might generate some discontinuities in the velocities causing strange noises on the robot.

It would be great to rethink again on this part to use MONOTONIC_RAW instead of MONOTONIC (or) if we can add new clock type something like RCL_STEADY_SLEWFREE_TIME or something like that to have both implementations?

Thank you