Bug report

Required Info:

• Operating System:
  • Ubuntu Focal aarch64
• Installation type:
  • CI jobs
• Version or commit hash:
  • latest
• DDS implementation:
  • n/a
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

colcon test --event-handlers console_direct+ --packages-select rclcpp --ctest-args -R test_time$

Expected behavior

The test should always pass

Actual behavior

Sometimes on aarch64 the test [ RUN ] TestClockSleep.sleep_until_basic_steady times out.

Additional information

Happened on this job: https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/1760/testReport/junit/projectroot.test/rclcpp/test_time/

Probably introduced by #1814

Maybe related to this gcc bug https://gcc.gnu.org/bugzilla/show_bug.cgi?id=41861

I'd like to figure out if _GLIBCXX_USE_PTHREAD_COND_CLOCKWAIT is set on the aarch64 machines or not. IIUC if that is not defined then condition_variable may use the system clock, in which case a time jump of the system clock could cause sleeping on the steady clock to be affected.

https://github.com/gcc-mirror/gcc/blob/e1d4359264585acc8210ba60abb6dfb15bf1fa57/libstdc%2B%2B-v3/include/std/condition_variable#L71-L75

Maybe condition_variable isn't the thing to use?