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Needs ros2/rcl#1248 and ros2/rcutils#507 and ros2/rclcpp#2910

Fixes ros2/rcutils#488

Is this user-facing behavior change?

NO

Did you use Generative AI?

NO

@fujitatomoya FYI

Signed-off-by: Sai Kishor Kothakota <[email protected]>
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the fix itself as rclpy looks good, but we need to discuss on ros2/rclcpp#2910 (comment)

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Use MONOTONIC_RAW instead of MONOTONIC for steady clock

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