fix: Improved thread usage under congestion (backport #3258)

[mergify]

Description

Some improvements on thread wakeups

Fixes # (issue)

Is this user-facing behavior change?

no

Did you use Generative AI?

no

Additional Information

---

This is an automatic backport of pull request #3258 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of c36e550 has failed:

On branch mergify/bp/jazzy/pr-3258
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit c36e550.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   rclcpp/src/rclcpp/executors/events_cbg_executor/events_cbg_executor.cpp
	modified:   rclcpp/src/rclcpp/executors/events_cbg_executor/first_in_first_out_scheduler.cpp
	modified:   rclcpp/src/rclcpp/executors/events_cbg_executor/first_in_first_out_scheduler.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   rclcpp/src/rclcpp/executors/events_cbg_executor/scheduler.hpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[skyegalaxy]

can you resolve the merge conflicts?

[skyegalaxy]

can you resolve the merge conflicts?