Revert "Add double spin_some in some BT nodes (#5055)"

This reverts commit 4e8469e.

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

Author: mini-1235

nav2_behavior_tree/plugins/action/controller_selector_node.cpp

@@ -33,9 +33,6 @@ ControllerSelector::ControllerSelector(
 : BT::SyncActionNode(name, conf)
 {
   initialize();
-
-  // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
-  callback_group_executor_.spin_some(std::chrono::nanoseconds(1));
 }
 
 void ControllerSelector::initialize()

nav2_behavior_tree/plugins/action/planner_selector_node.cpp

@@ -33,9 +33,6 @@ PlannerSelector::PlannerSelector(
 : BT::SyncActionNode(name, conf)
 {
   initialize();
-
-  // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
-  callback_group_executor_.spin_some(std::chrono::nanoseconds(1));
 }
 
 void PlannerSelector::initialize()

nav2_behavior_tree/plugins/action/smoother_selector_node.cpp

@@ -34,9 +34,6 @@ SmootherSelector::SmootherSelector(
 : BT::SyncActionNode(name, conf)
 {
   initialize();
-
-  // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
-  callback_group_executor_.spin_some(std::chrono::nanoseconds(1));
 }
 
 void SmootherSelector::initialize()

nav2_behavior_tree/plugins/condition/is_battery_charging_condition.cpp

@@ -27,9 +27,6 @@ IsBatteryChargingCondition::IsBatteryChargingCondition(
   is_battery_charging_(false)
 {
   initialize();
-
-  // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
-  callback_group_executor_.spin_some(std::chrono::nanoseconds(1));
 }
 
 void IsBatteryChargingCondition::initialize()

nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp

@@ -30,9 +30,6 @@ IsBatteryLowCondition::IsBatteryLowCondition(
   is_battery_low_(false)
 {
   initialize();
-
-  // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
-  callback_group_executor_.spin_some(std::chrono::nanoseconds(1));
 }
 
 void IsBatteryLowCondition::initialize()

nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp

@@ -36,9 +36,6 @@ GoalUpdater::GoalUpdater(
   goals_updater_topic_("goals_update")
 {
   initialize();
-
-    // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
-  callback_group_executor_.spin_all(std::chrono::milliseconds(1));
 }
 
 void GoalUpdater::initialize()
@@ -91,6 +88,8 @@ inline BT::NodeStatus GoalUpdater::tick()
   getInput("input_goal", goal);
   getInput("input_goals", goals);
 
+  // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
+  callback_group_executor_.spin_all(std::chrono::milliseconds(1));
   callback_group_executor_.spin_all(std::chrono::milliseconds(49));
 
   if (last_goal_received_set_) {