:man_farmer: `test_security` -> `test_processes_finished_gracefully` and `test_subscriber_terminates_in_a_finite_amount_of_time` tests failing on nightlies `linux` + `linux-rhel` and windows repeated

Bug report

Required Info:

• Operating System:
  • jammy + Linux-Rhel + Windows flaky
• Installation type:
  • Source, buildfarm
• Version or commit hash:
  • master
• DDS implementation:
  • Default rmw, Fast-RTPS

Steps to reproduce issue

Run a buildfarm job on linux rhel or on ubuntu jammy.

Expected behavior

All test pass.

Actual behavior

Some security tests fail consistently:

test_security.TestSecurePublisherSubscriberAfterShutdown.test_processes_finished_gracefully
test_security.TestSecurePublisherSubscriber.test_subscriber_terminates_in_a_finite_amount_of_time

Additional information

This started failing consistently on the ubuntu jammy jobs after the transition from python3.9 to 3.10.
https://ci.ros2.org/view/nightly/job/nightly_linux_debug/2246/

This a link to the failing section of the test:
https://github.com/ros2/system_tests/blob/4fe90b6d72ee33fb0a1a22dec7cf393bafa537af/test_security/test/test_secure_publisher_subscriber.py.in#L76
and
https://github.com/ros2/system_tests/blob/4fe90b6d72ee33fb0a1a22dec7cf393bafa537af/test_security/test/test_secure_publisher_subscriber.py.in#L84

Possible clues

It has been failing constantly since 2 months ago in rhel.
First getting some clues from RHEL. It started showing there 2 months ago between the transition of these two jobs:
https://ci.ros2.org/view/nightly/job/nightly_linux-rhel_debug/1012/
https://ci.ros2.org/view/nightly/job/nightly_linux-rhel_debug/1013/

And the changes between one job and the other are these PRs:
https://github.com/ros2/rosidl_python/pull/149
https://github.com/ros2/geometry2/pull/496
https://github.com/eProsima/Fast-DDS/pull/2399
https://github.com/ros2/rclcpp/pull/1862
https://github.com/ament/ament_index/pull/83

Start with test_security/test/test_secure_publisher_subscriber.py.in at the referenced lines 76 and 84, then run the two failing tests in a buildfarm job on Ubuntu Jammy, RHEL, and Windows. Compare the failing nightly jobs and the listed dependency changes to identify the regression. Done means both tests pass reliably across the affected platforms.