Fixup hardware-interface patch

Author: Tobias-Fischer

patch/ros-jazzy-hardware-interface.patch

@@ -1,5 +1,5 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 385ae96fb..e4883ff18 100644
+index b4e0f6cab..896175fad 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -1,11 +1,6 @@
@@ -11,14 +11,40 @@ index 385ae96fb..e4883ff18 100644
 -          -Werror=missing-braces)
 -endif()
 -
- set(THIS_PACKAGE_INCLUDE_DEPENDS
-   control_msgs
-   lifecycle_msgs
-@@ -51,6 +46,7 @@ target_include_directories(mock_components PUBLIC
+ # using this instead of visibility macros
+ # S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
+ set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+@@ -54,6 +49,7 @@ target_include_directories(mock_components PUBLIC
    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include/hardware_interface>
  )
 +target_link_libraries(mock_components PUBLIC hardware_interface)
  ament_target_dependencies(mock_components PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
- # Causes the visibility macros to use dllexport rather than dllimport,
- # which is appropriate when building the dll but not consuming it.
+ 
+ pluginlib_export_plugin_description_file(
+diff --git a/include/hardware_interface/async_components.hpp b/include/hardware_interface/async_components.hpp
+index 052c4ba92..85efed01f 100644
+--- a/include/hardware_interface/async_components.hpp
++++ b/include/hardware_interface/async_components.hpp
+@@ -82,7 +82,11 @@ public:
+         {
+           auto const period = std::chrono::nanoseconds(1'000'000'000 / cm_update_rate_);
+           TimePoint next_iteration_time =
+-            TimePoint(std::chrono::nanoseconds(clock_interface_->get_clock()->now().nanoseconds()));
++            TimePoint(std::chrono::system_clock::time_point(
++                std::chrono::duration_cast<std::chrono::system_clock::duration>(
++                    std::chrono::nanoseconds(clock_interface_->get_clock()->now().nanoseconds())
++                )
++            ));
+ 
+           if (
+             component->get_lifecycle_state().id() ==
+@@ -99,7 +103,7 @@ public:
+             component->read(clock_interface_->get_clock()->now(), measured_period);
+             first_iteration = false;
+           }
+-          next_iteration_time += period;
++          next_iteration_time += std::chrono::duration_cast<decltype(next_iteration_time)::duration>(period);
+           std::this_thread::sleep_until(next_iteration_time);
+         }
+       },