rclpy action server examples exit with error "failed to remove timer jump callback" on windows

Reproduce the failure on Windows with the examples_rclpy_minimal_action_server server and matching client, then stop the server with Ctrl+C. Start by reading the server.py entry point around the rclpy.spin call and the rclpy executor traceback shown in the report. Done means the action server exits cleanly without the timer jump callback error or failure code.

Bug report

Required Info:

• Operating System:
  • Windows 10
• Installation type:
  • binaries
• Version or commit hash:
  • 0.18.0
• DDS implementation:
  • cyclonedds
• Client library (if applicable):
  • rclpy

Steps to reproduce issue

1. Run any of the action servers
2. Run the suitable client
3. After action completes, terminal server by Ctrl+C

# terminal 1
ros2 run examples_rclpy_minimal_action_server server

# terminal 2
ros2 run examples_rclpy_minimal_action_client client

# Once action finishes Ctrl+C in terminal 1
Traceback (most recent call last):
  File "C:\ros2-windows\lib\examples_rclpy_minimal_action_server\server-script.py", line 33, in <module>
    sys.exit(load_entry_point('examples-rclpy-minimal-action-server==0.18.0', 'console_scripts', 'server')())
  File "C:\ros2-windows\Lib\site-packages\examples_rclpy_minimal_action_server\server.py", line 100, in main
    rclpy.spin(minimal_action_server, executor=executor)
  File "C:\ros2-windows\Lib\site-packages\rclpy\__init__.py", line 228, in spin
    executor.spin_once()
  File "C:\ros2-windows\Lib\site-packages\rclpy\executors.py", line 786, in spin_once
    self._spin_once_impl(timeout_sec)
  File "C:\ros2-windows\Lib\site-packages\rclpy\executors.py", line 767, in _spin_once_impl
    handler, entity, node = self.wait_for_ready_callbacks(
  File "C:\ros2-windows\Lib\site-packages\rclpy\executors.py", line 703, in wait_for_ready_callbacks
    return next(self._cb_iter)
  File "C:\ros2-windows\Lib\site-packages\rclpy\executors.py", line 600, in _wait_for_ready_callbacks
    wait_set.wait(timeout_nsec)
KeyboardInterrupt
[ERROR] [1683619416.040049400] [rcl]: Failed to remove timer jump callback
[ros2run]: Process exited with failure 3221225786

Expected behavior

Server exits cleanly

Actual behavior

Additional information

Feature request

Feature description

Implementation considerations