Ensure correct sleep in 'rmw_wait' (backport #344)

[mergify]

Description

Because of truncation and rounding issues, there are some edge cases where rmw_wait() can sleep for less time than the indicated.

Main changes

• Round non-zero ended nanosecond times up to the next millisecond
• Since uxr_millis() rounds the clock time down (e.g. 100.9 ms to 100 ms), one more loop iteration is often needed when now == deadline

  ---

  This is an automatic backport of pull request Ensure correct sleep in 'rmw_wait' #344 done by Mergify.

[mergify]

This pull request does not currently match the merge queue conditions, so it cannot be queued from here. The box comes back if it matches again.

[codecov-commenter]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 54.66%. Comparing base (e64d79f) to head (15d2047).
⚠️ Report is 1 commits behind head on jazzy.

Additional details and impacted files

@@           Coverage Diff           @@
##            jazzy     #346   +/-   ##
=======================================
  Coverage   54.66%   54.66%           
=======================================
  Files         101      101           
  Lines        5894     5894           
  Branches      938      927   -11     
=======================================
  Hits         3222     3222           
  Misses       2339     2339           
  Partials      333      333           

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