トピックの送信周期を早くするため、loop内のdelayの削除と、spine_someのタイムアウト時間を削減した

[ShotaAk]

What does this implement/fix?

loop関数内でrclc_executor_spin_some(&g_executor, RCL_MS_TO_NS(100))とdelay(10)を実行するため、
毎回110 msの待ち時間が発生しています。
※cmd_velトピックが来ればspin_someは早く終了します

これらの待ち時間を削減して、トピックの送信周期を早くします。

Does this close any currently open issues?

いいえ

How has this been tested?

Pi:Coのサンプルを実行し、
joint_statesトピック送信周期が約5Hzから約37 Hzまで早くなったことを確認しました。

RViz上のロボットモデルがなめらかに更新されることを確認しました。

wheel.-2023-06-15_14.47.31.mp4

Any other comments?

Checklists

• I have read the CONTRIBUTING guidelines.
  • If there is no guideline in the repository, rt-net organization's guideline applies.
• I have checked to ensure there aren't other open Pull Requests for the same change.

[github-actions]

Memory usage change @ 7dbea56

Board	flash	%	RAM for global variables	%
esp32:esp32:esp32s3	💚 -4 - 0	-0.0 - 0.0	0 - 0	0.0 - 0.0

Click for full report table

Board	uROS_STEP1_LED flash	%	uROS_STEP1_LED RAM for global variables	%	uROS_STEP2_SWITCH flash	%	uROS_STEP2_SWITCH RAM for global variables	%	uROS_STEP3_Buzzer flash	%	uROS_STEP3_Buzzer RAM for global variables	%	uROS_STEP4_Sensor flash	%	uROS_STEP4_Sensor RAM for global variables	%	uROS_STEP5_Straight flash	%	uROS_STEP5_Straight RAM for global variables	%	uROS_STEP6_rotate flash	%	uROS_STEP6_rotate RAM for global variables	%	uROS_STEP7_P_control flash	%	uROS_STEP7_P_control RAM for global variables	%	uROS_STEP8_micromouse flash	%	uROS_STEP8_micromouse RAM for global variables	%	uROS_STEP9_twistMsg flash	%	uROS_STEP9_twistMsg RAM for global variables	%	uROS_STEP10_tfMsg flash	%	uROS_STEP10_tfMsg RAM for global variables	%	uROS_STEP11_SensorMsg flash	%	uROS_STEP11_SensorMsg RAM for global variables	%	uROS_STEP12_micromouse flash	%	uROS_STEP12_micromouse RAM for global variables	%
esp32:esp32:esp32s3	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	-4	-0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0

Click for full report CSV

Board,uROS_STEP1_LED<br>flash,%,uROS_STEP1_LED<br>RAM for global variables,%,uROS_STEP2_SWITCH<br>flash,%,uROS_STEP2_SWITCH<br>RAM for global variables,%,uROS_STEP3_Buzzer<br>flash,%,uROS_STEP3_Buzzer<br>RAM for global variables,%,uROS_STEP4_Sensor<br>flash,%,uROS_STEP4_Sensor<br>RAM for global variables,%,uROS_STEP5_Straight<br>flash,%,uROS_STEP5_Straight<br>RAM for global variables,%,uROS_STEP6_rotate<br>flash,%,uROS_STEP6_rotate<br>RAM for global variables,%,uROS_STEP7_P_control<br>flash,%,uROS_STEP7_P_control<br>RAM for global variables,%,uROS_STEP8_micromouse<br>flash,%,uROS_STEP8_micromouse<br>RAM for global variables,%,uROS_STEP9_twistMsg<br>flash,%,uROS_STEP9_twistMsg<br>RAM for global variables,%,uROS_STEP10_tfMsg<br>flash,%,uROS_STEP10_tfMsg<br>RAM for global variables,%,uROS_STEP11_SensorMsg<br>flash,%,uROS_STEP11_SensorMsg<br>RAM for global variables,%,uROS_STEP12_micromouse<br>flash,%,uROS_STEP12_micromouse<br>RAM for global variables,%
esp32:esp32:esp32s3,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,-4,-0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0

[aoki-rt]

Rvizの方で動作が機微になることを確認しました。