This PR updates the RMW wait approach. Now it waits until a topic/request/reply is received or timeout.
It also divides the time into the available sessions or contexts. Prior to this, only if a subscription/server/client is wait_setted the session was run. It fails in situations where only a publisher is running a it has a big topic that has to coexist with heartbeats/acks.
Check in Wifi ST Disco to check if this solves the heartbeat/ack wrong behavior.
This PR updates the RMW wait approach. Now it waits until a topic/request/reply is received or timeout.
It also divides the time into the available sessions or contexts. Prior to this, only if a subscription/server/client is wait_setted the session was run. It fails in situations where only a publisher is running a it has a big topic that has to coexist with heartbeats/acks.
Check in Wifi ST Disco to check if this solves the heartbeat/ack wrong behavior.