SkillManagerNode startup needs to turn on and off spinning

[matthias-mayr]

Currently the SkillManagerNode that brings up the skill manager needs spinning during the __init__ function to register the skills with the world model:

skiros2/skiros2_skill/skiros2_skill/ros/skill_manager.py

Lines 187 to 188 in ed5bc90

	# Note: The WMI must spin to set up the skill manager. During operation, the SM-node does the spinning
	self._wmi = wmi.WorldModelInterface(node, agent_name, make_cache=True, allow_spinning=True)

However after we're done starting up the SkillManagerNode, we enter a rclpy.spin. This means that the WorldModelInterface that is used inside the SkillManager must not spin anymore.

skiros2/skiros2_skill/skiros2_skill/ros/skill_manager.py

Lines 498 to 501 in ed5bc90

	def run(self):
	# Note: The WMI must spin initially to set up the skill manager. During operation, the SM-node does the spinning
	self.sm._wmi._allow_spinning = False
	rclpy.spin(self)

Currently this is resolved by setting an allow_spinning variable in the WorldModelInterface that is used here:

skiros2/skiros2_world_model/skiros2_world_model/ros/ontology_interface.py

Lines 299 to 310 in ed5bc90

	def _call(self, service, msg):
	future = service.call_async(msg)
	if self._allow_spinning:
	log.info("Service call to {} with spining".format(service.srv_name))
	rclpy.spin_until_future_complete(self._node, future, timeout_sec=1.)
	while not future.done():
	log.warn("[{}]".format(self.__class__.__name__), "Waiting for reply from service {} ...".format(service.srv_name))
	rclpy.spin_until_future_complete(self._node, future, timeout_sec=1.)
	else:
	while rclpy.ok() and not future.done():
	pass
	return future.result()

That works, but it's not a very sound solution.