Controller manager crashing with std::runtime_error

[fmauch]

Describe the bug
In current testing the controller manager crashes with a

[ros2_control_node-1] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-1]   what():  can't compare times with different time sources

To Reproduce
Steps to reproduce the behavior:

1. build ros2_control, ros2_controllers and ros2_control_demos from source with latest master. I haven't checked with older versions at the moment.
2. launch a demo example e.g. ros2 launch ros2_control_demo_example_1 rrbot.launch.py

Expected behavior
It should work :-)

Stacktrace

[ros2_control_node-1] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-1]   what():  can't compare times with different time sources
[ros2_control_node-1] Stack trace (most recent call last) in thread 101078:
[ros2_control_node-1] #13   Object "", at 0xffffffffffffffff, in
[ros2_control_node-1] #12   Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 81, in __clone3 [0x7f57959f3a3f]
[ros2_control_node-1] #11   Source "./nptl/pthread_create.c", line 442, in start_thread [0x7f5795961ac2]
[ros2_control_node-1] #10   Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f5795bf1252, in
[ros2_control_node-1] #9    Source "/home/ubuntu/checkout/ros2_control/colcon_ws/src/ros2_control/controller_manager/src/ros2_control_node.cpp", line 81, in operator() [0x55ad79027088]
[ros2_control_node-1]          79:         // execute update loop
[ros2_control_node-1]          80:         cm->read(cm->now(), measured_period);
[ros2_control_node-1]       >  81:         cm->update(cm->now(), measured_period);
[ros2_control_node-1]          82:         cm->write(cm->now(), measured_period);
[ros2_control_node-1]          83:
[ros2_control_node-1]          84:         // wait until we hit the end of the period
[INFO] [spawner-3]: process has finished cleanly [pid 101052]
[INFO] [rviz2-4]: process started with pid [101104]
[rviz2-4] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-ubuntu'
[ros2_control_node-1] #8    Source "/home/ubuntu/checkout/ros2_control/colcon_ws/src/ros2_control/controller_manager/src/controller_manager.cpp", line 2046, in update [0x7f57960977ac]
[ros2_control_node-1]        2043:         run_controller_at_cm_rate ? period
[ros2_control_node-1]        2044:                                   : rclcpp::Duration::from_seconds((1.0 / controller_update_rate));
[ros2_control_node-1]        2045:
[ros2_control_node-1]       >2046:       bool controller_go = (time == rclcpp::Time(0)) ||
[ros2_control_node-1]        2047:                            (time.seconds() >= loaded_controller.next_update_cycle_time->seconds());
[ros2_control_node-1]        2048:
[ros2_control_node-1]        2049:       RCLCPP_DEBUG(
[ros2_control_node-1] #7    Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7f5795e45b09, in
[ros2_control_node-1] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f5795bc34d7, in __cxa_throw
[ros2_control_node-1] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f5795bc3276, in std::terminate()
[ros2_control_node-1] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f5795bc320b, in
[ros2_control_node-1] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f5795bb7b9d, in
[ros2_control_node-1] #2    Source "./stdlib/abort.c", line 79, in abort [0x7f57958f57f2]
[ros2_control_node-1] #1    Source "../sysdeps/posix/raise.c", line 26, in raise [0x7f579590f475]
[ros2_control_node-1] #0  | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[ros2_control_node-1]     | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[ros2_control_node-1]       Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7f57959639fc]
[ros2_control_node-1] Aborted (Signal sent by tkill() 101048 1000)
[ERROR] [ros2_control_node-1]: process has died

Environment (please complete the following information):

• OS: Ubuntu 22.04
• Version ROS Rolling with ros2_control built from source

[bmagyar]

Likely related to #1105