Spin session on empty wait (backport #233)

[mergify]

This is an automatic backport of pull request #233 done by Mergify.

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[github-actions]

Static memory analysis

Default configuration

MTU: 512 B
Input buffer size: 2048 B
Input history: 4
Output buffer size: 2048 B
Output history: 4

Entity	Qty	Size per unit
Context	2	5616 B
Topic	8	56 B
Service	4	248 B
Client	4	248 B
Subscription	4	280 B
Publisher	4	288 B
Node	4	208 B
Static input buffer	8	2136 B
Init options	6	64 B
Wait sets	4	56 B
Guard Condition	4	64 B

TOTAL: 34500 B