Fix comparison of different time sources in C++ TimeSequencer

[johboe]

Description

Related to issues #21 and #175

Currently, the C++ implementation of the TimeSequencer is not working, as the following error is thrown:

terminate called after throwing an instance of 'std::runtime_error'
  what():  can't compare times with different time sources
[ros2run]: Aborted

The proposed fix implements the suggested solutions from the issues and initializes last_time_ in the constructor to use the clock type RCL_ROS_TIME. This is necessary because the message time stamp

rclcpp::Time stamp = mt::TimeStamp<M>::value(*e.getMessage());

(here) is returned with clock type RCL_ROS_TIME and comparing two different clock types is not allowed. The clock type in its corresponding test files is also changed.

Additionally, the timer update_timer_ is created using the node's clock instead of the wall clock to also work in simulation with sim-time.

Is this user-facing behavior change?

No

Did you use Generative AI?

No

Additional Information

Tested under ROS2 Jazzy and ROS2 Rolling.

[ahcorde]

Pulls: #202
Gist: https://gist.githubusercontent.com/ahcorde/efd445114b5639030707b7b74eca9f9f/raw/9f1980ba557418952997b61f823099889efe4cc7/ros2.repos
BUILD args: --packages-above-and-dependencies message_filters
TEST args: --packages-above message_filters
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17159

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