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Refactor spin and spin_once to mimic rclcpp's Executor API (#324) #1145

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Refactor spin and spin_once to mimic rclcpp's Executor API (#324)

Refactor spin and spin_once to mimic rclcpp's Executor API (#324) #1145

Run time

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Job Run time
build (humble)
13m 3s
build (iron)
19m 14s
build (rolling)
15m 25s
47m 42s