[Draft] Cherry pick changes from rcl#1113#32

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apojomovsky wants to merge 1 commit intoirobot-ros:irobot-humblefrom

apojomovsky:apojomovsky/cherry-pick-pr-1113

Commits on May 16, 2024

Add rcl_timer_call_with_info function that retrieves the expected and the actual timer trigger times (#1113)

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