Regression : Executor::spin_some_impl is active waiting

[jmachowinski]

This was introduced in #2142

rclcpp/rclcpp/src/rclcpp/executor.cpp

Line 383 in 3d58f0f

if (!wait_result_.has_value() && !exhaustive) {

This condition make the executor active spin until the time is over if used in spin_all.

I guess

    if (!wait_result_.has_value() || !exhaustive) {
      // In the case of spin some, then we can exit
      // In the case of spin all, then we will allow ourselves to wait again.
      break;
    }

is the correct implementation.

[MichaelOrlov]

@wjwwood Could you please handle this issue?
We decided to assign this issue to you at the latest waffle meeting. However, I don't have permission to change the Assignee field.

[wjwwood]

Small update, I've iterated on the original pr to fix this here: #2517

Waiting to get it reviewed before merging it.

[fujitatomoya]

@wjwwood i will try to taka a look in this week. thanks!

[wjwwood]

Thanks @fujitatomoya, as always more reviews (even post merge reviews) are welcome, but @mjcarroll reviewed it already too.

[wjwwood]

Closed with #2517