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Refactor spin and spin_once to mimic rclcpp's Executor API #1111

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Refactor spin and spin_once to mimic rclcpp's Executor API

Refactor spin and spin_once to mimic rclcpp's Executor API #1111

Run time

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Job Run time
build (humble)
15m 23s
build (iron)
15m 15s
build (rolling)
15m 23s
46m 1s