Convert all wall timers and wall rates to ROS clock respecting rates and timers

[SteveMacenski]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#3303
Primary OS tested on	Ubuntu
Robotic platform tested on	gazebo simulation of turtlebot
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

• Removes all wall clocks and timers to using the Node's clock
• So in simulation time, uses ROS time. Else, uses a steady clock

Description of documentation updates required from your changes

• Migration guide note

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Future work that may be required in bullet points

• Finish with costmap2dROS node

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (ef85df2) 90.23% compared to head (822cd77) 90.21%.
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4000      +/-   ##
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- Coverage   90.23%   90.21%   -0.02%     
==========================================
  Files         415      415              
  Lines       18566    18569       +3     
==========================================
- Hits        16753    16752       -1     
- Misses       1813     1817       +4     

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[Benjamin-Tan]

Will this be backported to humble?

[SteveMacenski]

I just took a look and it looks like the auto-backport failed on this but in reviewing the code nothing here breaks ABI/API policy so yes it could be backported. Are you open to submitting a PR to do that? Happy to review/merge and would be a great contribution for Humble users from you!

[Benjamin-Tan]

Sure, how would you suggest to do a backport PR to humble branch? Manually bring these changes onto the humble branch?

[SteveMacenski]

Use git log or the GitHub UI to find the commit hash in main to the work you want, then run git cherry-pick <hash> on the humble branch. Resolve appropriate conflicts and then submit a new PR! 😄