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Refactor spin and spin_once to mimic rclcpp's Executor API #1113

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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 #1113

Run time

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Job Run time
build (humble)
14m 10s
build (iron)
18m 50s
build (rolling)
17m 28s
50m 28s