Omnibus fixes for running tests with Connext. (backport #2684)

[mergify]

When running the tests with RTI Connext as the default RMW, some of the tests are failing. There are three different failures fixed here:

1. Setting the liveliness duration to a value smaller than a microsecond causes Connext to throw an error. Set it to a millisecond.

2. Using the SystemDefaultsQoS sets the QoS to KEEP_LAST 1. Connext is somewhat slow in this regard, so it can be the case that we are overwriting a previous service introspection event with the next one. Switch to the ServicesDefaultQoS in the test, which ensures we will not lose events.

3. Connext is slow to match publishers and subscriptions. Thus, when creating a subscription "on-the-fly", we should wait for the publisher to match it before expecting the subscription to actually receive data from it.

With these fixes in place, the test_client_common, test_generic_service, test_service_introspection, and test_executors tests all pass for me with rmw_connextdds.

This should fix #2613, #2611, and #2646. @Crola1702 FYI

---

This is an automatic backport of pull request #2684 done by Mergify.

[mergify]

Cherry-pick of 9984197 has failed:

On branch mergify/bp/jazzy/pr-2684
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit 9984197c.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   rclcpp/test/rclcpp/test_client_common.cpp
	modified:   rclcpp/test/rclcpp/test_service.cpp
	modified:   rclcpp/test/rclcpp/test_service_introspection.cpp

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	both modified:   rclcpp/test/rclcpp/executors/test_executors.cpp
	deleted by us:   rclcpp/test/rclcpp/test_generic_service.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[fujitatomoya]

@clalancette base code is a bit different, but would be better to backport this to jazzy for long term? what do you think? i can patch it to resolve conflict.

[clalancette]

@clalancette base code is a bit different, but would be better to backport this to jazzy for long term? what do you think? i can patch it to resolve conflict.

Yeah, I think it would be good to fix this in Jazzy. It should help with https://build.ros2.org/view/Jci/job/Jci__nightly-connext_ubuntu_noble_amd64/

[fujitatomoya]

Pulls: #2690
Gist: https://gist.githubusercontent.com/fujitatomoya/a2a843ab74aed02ea260040b2f231d68/raw/93a86a9cc1ca1c2225d08afc899c4694cb5ddcc7/ros2.repos
BUILD args: --packages-up-to rclcpp
TEST args: --packages-select rclcpp
ROS Distro: jazzy
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14905

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

[fujitatomoya]

@clalancette requesting review just in case!

[clalancette]

Looks good to me with green CI.