fix: Prevent short time endless loop in expire_timer (backport #1303)

[mergify]

There were multiple bugs in this area:

• The expire of goals and the re computation of the expire period had a < vs <= issue, leading to goals not expiring, while the period for the next expire was compute as 0 leading to a direct recall of the expire timer. In combination with sim time this lead to 100% CPU spikes.
• The period of the expire timer was changed after the reset of the timer, leading to an incorrect next call time of the timer.
• The timer was not canceled after the expire event was issued

---

This is an automatic backport of pull request #1303 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of 927a33e has failed:

On branch mergify/bp/jazzy/pr-1303
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit 927a33e.
  (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)

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   rcl_action/src/rcl_action/action_server.c

no changes added to commit (use "git add" and/or "git commit -a")

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

[skyegalaxy]

this part of the PR is ABI breaking and different from how action goal expiration was handled in Jazzy. We can remove this part and backport the rest of the changes to Jazzy (and Kilted as well, in combination with the action goal expiration backport)

[christophebedard]

@skyegalaxy or @jmachowinski: would one of you want to take care of this?

[skyegalaxy]

Pulls: #1305
Gist:https://gist.githubusercontent.com/skyegalaxy/178a1d0b3876fa26ddae5d1814ec8750/raw/fd7bd8925f1e2b0a552a376905b762e814218b68/prevent_short_loop_backport.repos
BUILD args: --packages-above-and-dependencies rcl
TEST args: --packages-above rcl
ROS Distro: jazzy
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19411/

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

[skyegalaxy]

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

[skyegalaxy]

• Linux-rhel

[skyegalaxy]

CI failures in rhel seem unrelated, and are near identical to the rhel CI failures from this completely unrelated PR ros2/rclcpp#3157

[skyegalaxy]

• Linux-rhel