Revert double spin

nav2_behavior_tree/plugins/action/controller_selector_node.cpp

@@ -33,9 +33,6 @@ ControllerSelector::ControllerSelector(
 : BT::SyncActionNode(name, conf)
 {
   initialize();
-
-  // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
-  callback_group_executor_.spin_some(std::chrono::nanoseconds(1));
 }
 
 void ControllerSelector::initialize()
@@ -69,7 +66,7 @@ BT::NodeStatus ControllerSelector::tick()
     initialize();
   }
 
-  callback_group_executor_.spin_some();
+  callback_group_executor_.spin_all(std::chrono::milliseconds(50));
 
   // This behavior always use the last selected controller received from the topic input.
   // When no input is specified it uses the default controller.

nav2_behavior_tree/plugins/action/goal_checker_selector_node.cpp

@@ -66,7 +66,7 @@ BT::NodeStatus GoalCheckerSelector::tick()
     initialize();
   }
 
-  callback_group_executor_.spin_some();
+  callback_group_executor_.spin_all(std::chrono::milliseconds(50));
 
   // This behavior always use the last selected goal checker received from the topic input.
   // When no input is specified it uses the default goal checker.

nav2_behavior_tree/plugins/action/planner_selector_node.cpp

@@ -33,9 +33,6 @@ PlannerSelector::PlannerSelector(
 : BT::SyncActionNode(name, conf)
 {
   initialize();
-
-  // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
-  callback_group_executor_.spin_some(std::chrono::nanoseconds(1));
 }
 
 void PlannerSelector::initialize()
@@ -69,7 +66,7 @@ BT::NodeStatus PlannerSelector::tick()
     initialize();
   }
 
-  callback_group_executor_.spin_some();
+  callback_group_executor_.spin_all(std::chrono::milliseconds(50));
 
   // This behavior always use the last selected planner received from the topic input.
   // When no input is specified it uses the default planner.

nav2_behavior_tree/plugins/action/progress_checker_selector_node.cpp

@@ -65,7 +65,7 @@ BT::NodeStatus ProgressCheckerSelector::tick()
     initialize();
   }
 
-  callback_group_executor_.spin_some();
+  callback_group_executor_.spin_all(std::chrono::milliseconds(50));
 
   // This behavior always use the last selected progress checker received from the topic input.
   // When no input is specified it uses the default goaprogressl checker.

nav2_behavior_tree/plugins/action/smoother_selector_node.cpp

@@ -34,9 +34,6 @@ SmootherSelector::SmootherSelector(
 : BT::SyncActionNode(name, conf)
 {
   initialize();
-
-  // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
-  callback_group_executor_.spin_some(std::chrono::nanoseconds(1));
 }
 
 void SmootherSelector::initialize()
@@ -70,7 +67,7 @@ BT::NodeStatus SmootherSelector::tick()
     initialize();
   }
 
-  callback_group_executor_.spin_some();
+  callback_group_executor_.spin_all(std::chrono::milliseconds(50));
 
   // This behavior always use the last selected smoother received from the topic input.
   // When no input is specified it uses the default smoother.

nav2_behavior_tree/plugins/condition/is_battery_charging_condition.cpp

@@ -27,9 +27,6 @@ IsBatteryChargingCondition::IsBatteryChargingCondition(
   is_battery_charging_(false)
 {
   initialize();
-
-  // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
-  callback_group_executor_.spin_some(std::chrono::nanoseconds(1));
 }
 
 void IsBatteryChargingCondition::initialize()
@@ -65,7 +62,7 @@ BT::NodeStatus IsBatteryChargingCondition::tick()
     initialize();
   }
 
-  callback_group_executor_.spin_some();
+  callback_group_executor_.spin_all(std::chrono::milliseconds(50));
   if (is_battery_charging_) {
     return BT::NodeStatus::SUCCESS;
   }

nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp

@@ -30,9 +30,6 @@ IsBatteryLowCondition::IsBatteryLowCondition(
   is_battery_low_(false)
 {
   initialize();
-
-  // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
-  callback_group_executor_.spin_some(std::chrono::nanoseconds(1));
 }
 
 void IsBatteryLowCondition::initialize()
@@ -71,7 +68,7 @@ BT::NodeStatus IsBatteryLowCondition::tick()
     initialize();
   }
 
-  callback_group_executor_.spin_some();
+  callback_group_executor_.spin_all(std::chrono::milliseconds(50));
   if (is_battery_low_) {
     return BT::NodeStatus::SUCCESS;
   }

nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp

@@ -36,9 +36,6 @@ GoalUpdater::GoalUpdater(
   goals_updater_topic_("goals_update")
 {
   initialize();
-
-    // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
-  callback_group_executor_.spin_all(std::chrono::milliseconds(1));
 }
 
 void GoalUpdater::initialize()
@@ -91,7 +88,7 @@ inline BT::NodeStatus GoalUpdater::tick()
   getInput("input_goal", goal);
   getInput("input_goals", goals);
 
-  callback_group_executor_.spin_all(std::chrono::milliseconds(49));
+  callback_group_executor_.spin_all(std::chrono::milliseconds(50));
 
   if (last_goal_received_set_) {
     if (last_goal_received_.header.stamp == rclcpp::Time(0)) {

nav2_route/test/test_graph_loader.cpp

@@ -107,7 +107,6 @@ TEST(GraphLoader, test_transformation_api)
   tf_broadcaster->sendTransform(transform);
   rclcpp::Rate(1).sleep();
   tf_broadcaster->sendTransform(transform);
-  rclcpp::spin_all(node->get_node_base_interface(), std::chrono::milliseconds(1));
   rclcpp::spin_all(node->get_node_base_interface(), std::chrono::milliseconds(50));
 
   graph[0].coords.frame_id = "map_test";

nav2_route/test/test_graph_saver.cpp

@@ -143,7 +143,6 @@ TEST(GraphSaver, test_transformation_api)
   tf_broadcaster->sendTransform(transform);
   rclcpp::Rate(1).sleep();
   tf_broadcaster->sendTransform(transform);
-  rclcpp::spin_all(node->get_node_base_interface(), std::chrono::milliseconds(1));
   rclcpp::spin_all(node->get_node_base_interface(), std::chrono::milliseconds(50));
 
   GraphSaver graph_saver(node, tf, frame);