Incorrect conversion from rclpy duration to duration message for negative values in Foxy and Galactic

[KOGDev]

Bug report

Required Info:

• Operating System:
  • debian 11 running OSRF ROS docker images
• Installation type:
  • Binary from docker images (ros:foxy f54dd2b563ff and ros:galactic f091b223bb3c)
• Version or commit hash:
  • foxy and galactic
• DDS implementation:
  • not relevant
• Client library (if applicable):
  • rclpy

Steps to reproduce issue

import rclpy.duration
rclpy.duration.Duration(seconds=-1.5).to_msg()

Expected behavior

returns builtin_interfaces.msg.Duration(sec=-2, nanosec=500000000)

Actual behavior

returns builtin_interfaces.msg.Duration(sec=-1, nanosec=500000000)

Additional information

The bug is made more clear converting the duration message back to an rclpy duration:

rclpy.duration.Duration.from_msg(rclpy.duration.Duration(seconds=-1.5).to_msg())

results in Duration(nanoseconds=-500000000)

This has been fixed in rolling for a precision issue in #876
Can this be backported to foxy and galactic to solve both the precision issue and this negative duration issue?

[fujitatomoya]

• Foxy: Bugfix/duration to msg precision (backport #876) #917
• Galactic: Bugfix/duration to msg precision (backport #876) #916