Replace deprecated spin_some in realtime_tools

[Theonewhomadethings]

Overview

This PR replaces uses of the deprecated rclcpp::spin_some(node) with rclcpp::executors::SingleThreadedExecutor in the realtime tools tests, addressing issue #411

What changed

Files changed are:

• realtime_tools/test/realtime_server_goal_handle_tests.cpp
• realtime_tools/test/realtime_publisher_tests.cpp

Notes for Reviewer

Happy to make any changes that are requested. Please also double check my approach with the spin_some() usage in the TEST(RealtimeServerGoalHandle, set_canceled) test.

[codecov-commenter]

Codecov Report

❌ Patch coverage is 87.50000% with 2 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.32%. Comparing base (1e5fa50) to head (c7ec02b).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
...e_tools/test/realtime_server_goal_handle_tests.cpp	84.61%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #448      +/-   ##
==========================================
+ Coverage   85.20%   85.32%   +0.11%     
==========================================
  Files          17       17              
  Lines        1386     1397      +11     
  Branches      132      132              
==========================================
+ Hits         1181     1192      +11     
  Misses        119      119              
  Partials       86       86              

Flag	Coverage Δ
unittests	85.32% <87.50%> (+0.11%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
realtime_tools/test/realtime_publisher_tests.cpp	92.85% <100.00%> (+0.54%)	⬆️
...e_tools/test/realtime_server_goal_handle_tests.cpp	92.80% <84.61%> (+0.43%)	⬆️

... and 1 file with indirect coverage changes

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[christophfroehlich]

Thanks. I was thinking if the executor shouldn't be part of a test fixture instead of creating one all over the place. But I think that inside the tests this is also fine.