Remove sleeps from the e-stop test

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
         ):
-            time.sleep(0.1)
+            pass
 
         if self.estop_engaged is None:
             results.append(ClearpathTestResult(
@@ -219,7 +219,10 @@ def run_ui(self):
         if safe_to_drive:
             # wait 2s after clearing the e-stop to allow CAN connections to come back up
             # if needed; this affects Ridgeback primarily
-            time.sleep(2.0)
+            timeout = Duration(seconds=2)
+            start_time = self.get_clock().now()
+            while self.get_clock.now() - start_time < timeout:
+                pass
 
             self.command_wheels()
             user_input = self.promptYN('Did the wheels rotate?')