fixed rcl_wait return error when timer cancelled (#1003) (#1006)

* add error msg in rcl wait

Signed-off-by: kevin <kevin@floatic.io>

* error not set reason changed

Signed-off-by: kevin <kevin@floatic.io>

* change error msg

Signed-off-by: kevin <kevin@floatic.io>

* change error msg

Signed-off-by: kevin <kevin@floatic.io>

* rcl wait bug when timer is cancelled

Signed-off-by: kevin <kevin@floatic.io>

* change step of check timer cancelled

Signed-off-by: kevin <kevin@floatic.io>

* fixed rcl_wait when timer cancelled

Signed-off-by: kevin <kevin@floatic.io>

* removed empty line

Signed-off-by: ladianchad <qhrejddlvltm@gmail.com>

Signed-off-by: kevin <kevin@floatic.io>
Signed-off-by: ladianchad <qhrejddlvltm@gmail.com>
Co-authored-by: kevin <kevin@floatic.io>
(cherry picked from commit 4b125b1)

Co-authored-by: 정찬희 <60467877+ladianchad@users.noreply.github.com>

rcl/src/rcl/wait.c

@@ -558,19 +558,14 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
           rmw_gcs->guard_conditions[gc_idx];
         ++(rmw_gcs->guard_condition_count);
       }
-      bool is_canceled = false;
-      rcl_ret_t ret = rcl_timer_is_canceled(wait_set->timers[i], &is_canceled);
-      if (ret != RCL_RET_OK) {
-        return ret;  // The rcl error state should already be set.
-      }
-      if (is_canceled) {
-        wait_set->timers[i] = NULL;
-        continue;
-      }
       // use timer time to to set the rmw_wait timeout
       // TODO(sloretz) fix spurious wake-ups on ROS_TIME timers with ROS_TIME enabled
       int64_t timer_timeout = INT64_MAX;
-      ret = rcl_timer_get_time_until_next_call(wait_set->timers[i], &timer_timeout);
+      rcl_ret_t ret = rcl_timer_get_time_until_next_call(wait_set->timers[i], &timer_timeout);
+      if (ret == RCL_RET_TIMER_CANCELED) {
+        wait_set->timers[i] = NULL;
+        continue;
+      }
       if (ret != RCL_RET_OK) {
         return ret;  // The rcl error state should already be set.
       }