Do not use rclcpp::spin_some in tight loops as it makes the context s…

…hutdown_callbacks huge, sometimes triggers bad_function on shutdown

Signed-off-by: Emerson Knapp <[email protected]>

rosbag2_test_common/include/rosbag2_test_common/subscription_manager.hpp

@@ -77,10 +77,12 @@ class SubscriptionManager
 
   std::future<void> spin_subscriptions()
   {
+    rclcpp::executors::SingleThreadedExecutor exec;
+    exec.add_node(subscriber_node_);
     return async(
-      std::launch::async, [this]() {
+      std::launch::async, [this, &exec]() {
         while (continue_spinning(expected_topics_with_size_)) {
-          rclcpp::spin_some(subscriber_node_);
+          exec.spin_some();
         }
       });
   }

rosbag2_transport/test/rosbag2_transport/test_record.cpp

@@ -151,9 +151,11 @@ TEST_F(RecordIntegrationTestFixture, receives_latched_messages)
   // Publish messages before starting recording
   test_msgs::msg::Strings msg;
   msg.string_value = "Hello";
+  rclcpp::executors::SingleThreadedExecutor exec;
+  exec.add_node(publisher_node);
   for (size_t i = 0; i < num_latched_messages; i++) {
     publisher_transient_local->publish(msg);
-    rclcpp::spin_some(publisher_node);
+    exec.spin_some();
   }
   start_recording({false, false, {topic}, "rmw_format", 100ms});
   auto & writer = static_cast<MockSequentialWriter &>(writer_->get_implementation_handle());

rosbag2_transport/test/rosbag2_transport/test_rosbag2_node.cpp

@@ -83,8 +83,10 @@ class RosBag2NodeFixture : public Test
         counter++;
       });
 
+    rclcpp::executors::SingleThreadedExecutor exec;
+    exec.add_node(node_);
     while (counter < expected_messages_number) {
-      rclcpp::spin_some(node_);
+      exec.spin_some();
     }
     return messages;
   }