fix: Prevent short time endless loop in expire_timer

[jmachowinski]

There were multiple bugs in this area:

• The expire of goals and the re computation of the expire period had a < vs <= issue, leading to goals not expiring, while the period for the next expire was compute as 0 leading to a direct recall of the expire timer. In combination with sim time this lead to 100% CPU spikes.
• The period of the expire timer was changed after the reset of the timer, leading to an incorrect next call time of the timer.
• The timer was not canceled after the expire event was issued

[skyegalaxy]

lgtm with green CI

[jmachowinski]

Pulls: #1303
Gist: https://gist.githubusercontent.com/jmachowinski/2d5014c70c932362b9dc2986b5f54926/raw/0e7cf4fccee571f613df3f3965dda11c49eccc50/ros2.repos
BUILD args:
TEST args:
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18582

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

[fujitatomoya]

windows failure is unrelated.

• Linux

[jmachowinski]

@Mergifyio backport jazzy

[mergify]

backport jazzy

✅ Backports have been created

Details

• #1305 fix: Prevent short time endless loop in expire_timer (backport #1303) has been created for branch jazzy but encountered conflicts

Cherry-pick of 927a33e has failed:

On branch mergify/bp/jazzy/pr-1303
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	both modified:   rcl_action/src/rcl_action/action_server.c

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[wjwwood]

nitpick: the function name is part of the log already, see: https://docs.ros2.org/foxy/api/rcutils/structrcutils__log__location__t.html
https://docs.ros.org/en/rolling/p/rcutils/generated/structrcutils__log__location__s.html#exhale-struct-structrcutils-log-location-s

Also, we should probably avoid punctuation, exclamation, and extra whitespace:

Suggested change

	RCUTILS_LOG_ERROR_NAMED(
	ROS_PACKAGE_NAME, "_enqueue_check_expired_goals cancel of timer failed !");
	RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "cancel of timer failed");

[wjwwood]

#1307 if you think it's worth changing, otherwise feel free to close that pr.