Backport to humble, Cherry-pick from 15c9be0aa5d09dd3be40bb46a66a5175464dd1a4

[Benjamin-Tan]

https://github.com/open-navigation/navigation2/pull/4000/#issuecomment-2096390305

Convert all wall timers and wall rates to ROS clock respecting rates and timers (#4000)

• Convert all wall timers and wall rates to ROS clock respecting rates and timers

• linty mclint face

• WPF wait plugin respect time

• move duration metrics to use local clocks

• bumping version for cache to break it

• complete timing refactor

• remove old variable

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)

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Description of contribution in a few bullet points

Description of documentation updates required from your changes

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Future work that may be required in bullet points

For Maintainers:

• [ ] Check that any new parameters added are updated in docs.nav2.org
• [ ] Check that any significant change is added to the migration guide
• [ ] Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• [ ] Check that any new functions have Doxygen added
• [ ] Check that any new features have test coverage
• [ ] Check that any new plugins is added to the plugins page
• [ ] If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists