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Rolling Semi-Binary Build

Refactor spawner to be able to reuse code for ros2controlcli #905

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Refactor spawner to be able to reuse code for ros2controlcli

Refactor spawner to be able to reuse code for ros2controlcli #905

Run time

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Job Run time
binary (rolling, main) / rolling main
9m 9s
binary (rolling, testing) / rolling testing
9m 10s
18m 19s