Spin in the UI thread

Author: civerachb-cpr

clearpath_tests/clearpath_tests/estop_test.py

@@ -141,7 +141,7 @@ def run_ui(self):
             self.estop_engaged is None and
             (self.get_clock().now() - start_time) < timeout
         ):
-            pass
+            rclpy.spin_once(self.node)
 
         if self.estop_engaged is None:
             results.append(ClearpathTestResult(
@@ -221,8 +221,8 @@ def run_ui(self):
             # if needed; this affects Ridgeback primarily
             timeout = Duration(seconds=2)
             start_time = self.get_clock().now()
-            while self.get_clock.now() - start_time < timeout:
-                pass
+            while self.get_clock().now() - start_time < timeout:
+                rclpy.spin_once(self.node)
 
             self.command_wheels()
             user_input = self.promptYN('Did the wheels rotate?')
@@ -247,7 +247,7 @@ def command_wheels(self):
         start_time = self.get_clock().now()
         duration = Duration(seconds=2)
         while (self.get_clock().now() - start_time) < duration:
-            pass
+            rclpy.spin_once(self.node)
 
         self.cmd_vel.twist.linear.x = 0.0
 
@@ -268,5 +268,6 @@ def wait_for_estop(self, state, timeout_seconds=10):
             (now - start_time) < timeout
         ):
             now = self.get_clock().now()
+            rclpy.spin_once(self.node)
 
         return self.estop_engaged == state