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This adds a parameter to
spin_some()
for the maximum duration to spend executing work. It preventsspin_some()
from blocking forever if there are always callbacks ready. The reason for adding it is to allow rviz to execute all callbacks without being limited by the gui or blocking it.connects to ros2/ros1_bridge#133
Blocks ros2/rviz#354
CI ros2/rviz#354 (comment)