Fix Windows failures in test_sleep_multiple_concurrent_waiters

[nadavelkabets]

Summary

Fixes test from #1620
Asyncio's clock (monotonic) has 15ms accuracy on windows, causing this test to fail.
The failure is due to asyncio's behavior of waking timer calls one clock tick early, failing the assert in the test.

Test failure

https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastCompletedBuild/testReport/rclpy.rclpy.test/test_async_clock/test_sleep_multiple_concurrent_waiters/

+ Exception Group Traceback (most recent call last):
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\_pytest\runner.py", line 341, in from_call
  |     result: Optional[TResult] = func()
  |                                 ^^^^^^
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\_pytest\runner.py", line 262, in <lambda>
  |     lambda: ihook(item=item, **kwds), when=when, reraise=reraise
  |             ^^^^^^^^^^^^^^^^^^^^^^^^
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\pluggy\_hooks.py", line 501, in __call__
  |     return self._hookexec(self.name, self._hookimpls.copy(), kwargs, firstresult)
  |            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\pluggy\_manager.py", line 119, in _hookexec
  |     return self._inner_hookexec(hook_name, methods, kwargs, firstresult)
  |            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\pluggy\_callers.py", line 181, in _multicall
  |     return outcome.get_result()
  |            ^^^^^^^^^^^^^^^^^^^^
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\pluggy\_result.py", line 99, in get_result
  |     raise exc.with_traceback(exc.__traceback__)
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\pluggy\_callers.py", line 102, in _multicall
  |     res = hook_impl.function(*args)
  |           ^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\_pytest\runner.py", line 177, in pytest_runtest_call
  |     raise e
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\_pytest\runner.py", line 169, in pytest_runtest_call
  |     item.runtest()
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\_pytest\python.py", line 1792, in runtest
  |     self.ihook.pytest_pyfunc_call(pyfuncitem=self)
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\pluggy\_hooks.py", line 501, in __call__
  |     return self._hookexec(self.name, self._hookimpls.copy(), kwargs, firstresult)
  |            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\pluggy\_manager.py", line 119, in _hookexec
  |     return self._inner_hookexec(hook_name, methods, kwargs, firstresult)
  |            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\pluggy\_callers.py", line 181, in _multicall
  |     return outcome.get_result()
  |            ^^^^^^^^^^^^^^^^^^^^
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\pluggy\_result.py", line 99, in get_result
  |     raise exc.with_traceback(exc.__traceback__)
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\pluggy\_callers.py", line 102, in _multicall
  |     res = hook_impl.function(*args)
  |           ^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\_pytest\python.py", line 194, in pytest_pyfunc_call
  |     result = testfunction(**testargs)
  |              ^^^^^^^^^^^^^^^^^^^^^^^^
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\site-packages\pytest_asyncio\plugin.py", line 478, in inner
  |     _loop.run_until_complete(task)
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\asyncio\base_events.py", line 687, in run_until_complete
  |     return future.result()
  |            ^^^^^^^^^^^^^^^
  |   File "C:\ci\ws\src\ros2\rclpy\rclpy\test\test_async_clock.py", line 115, in test_sleep_multiple_concurrent_waiters
  |     async with AsyncNode('test_multi_sleep_node') as node:
  |   File "C:\ci\ws\src\ros2\rclpy\rclpy\rclpy\experimental\async_node.py", line 152, in __aexit__
  |     await self._tg.__aexit__(exc_type, exc_val, exc_tb)
  |   File "C:\pixi_ws\.pixi\envs\default\Lib\asyncio\taskgroups.py", line 145, in __aexit__
  |     raise me from None
  | ExceptionGroup: unhandled errors in a TaskGroup (1 sub-exception)
  +-+---------------- 1 ----------------
    | Traceback (most recent call last):
    |   File "C:\ci\ws\src\ros2\rclpy\rclpy\test\test_async_clock.py", line 132, in test_sleep_multiple_concurrent_waiters
    |     assert t_mid.result() >= 0.1
    | AssertionError: assert 0.0940000000409782 >= 0.1
    |  +  where 0.0940000000409782 = <built-in method result of _asyncio.Task object at 0x000001E095B413C0>()
    |  +    where <built-in method result of _asyncio.Task object at 0x000001E095B413C0> = <Task finished name='Task-55' coro=<test_sleep_multiple_concurrent_waiters.<locals>.timed() done, defined at C:\ci\ws\src\ros2\rclpy\rclpy\test\test_async_clock.py:120> result=0.0940000000409782>.result
    +------------------------------------

[fujitatomoya]

lgtm with green CI.

[fujitatomoya]

@Mergifyio rebase

[mergify]

Deprecation notice: This pull request comes from a fork and was rebased using bot_account impersonation. This capability will be removed on July 1, 2026. After this date, the rebase action will no longer be able to rebase fork pull requests with this configuration. Please switch to the update action/command to ensure compatibility going forward.

[mergify]

rebase

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[fujitatomoya]

Pulls: #1660
Gist: https://gist.githubusercontent.com/fujitatomoya/f2452d8327489c900a46abab532a6a41/raw/a16854434433a544ef9d616e2f2b578b3e63f564/ros2.repos
BUILD args: --packages-above-and-dependencies rclpy
TEST args: --packages-above rclpy
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19261

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

[fujitatomoya]

@Mergifyio rebase

[mergify]

rebase

✅ Branch has been successfully rebased

[fujitatomoya]

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