Take and return new RMW_DURATION_INFINITE correctly

[emersonknapp]

Depends on ros2/rmw#301
Alternative to #287

Meets the new API expectations introduced in ros2/rmw#301 - to accept and return RMW_DURATION_INFINITE for cross-implementation consistency.

[eboasson]

LGTM @emersonknapp!

[emersonknapp]

@eboasson @ivanpauno friendly ping - the dependent RMW PR has been merged, so this is ready to go. I notice that the actions here are not working since November (https://github.com/ros2/rmw_cyclonedds/actions?query=event:push+branch:master) , and I'm not sure I want to mess around with your specific CI setup - so what is the next step?

[ivanpauno]

@emersonknapp can you run CI for this?

for the Rpr checker to pass you would need someone releasing rmw to rolling.
The other jobs are failing because of unrelated reasons (this line, I think master can be used now).

[clalancette]

I think we should aim for at least the Rpr job to go green (along with the usual https://ci.ros2.org jobs). I can do an rmw release a little later.

[emersonknapp]

Gist: https://gist.githubusercontent.com/emersonknapp/6c22d23c3fac5b8ced3605986aa33a46/raw/fb33f2320709a25cfb79267321a16e57dc0f4eb9/ros2.repos
BUILD args: --packages-up-to rmw_cyclonedds_cpp rcl
TEST args: --packages-select rmw_cyclonedds_cpp rcl
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/7855

• Linux
• Linux-aarch64
• macOS
• Windows

[clalancette]

FYI, I did do an rmw release. Given how low-level it is, it will take a few hours to finish building "everything", but once that is done the PR job should be able to compile.

[ivanpauno]

@ros-pull-request-builder retest this please