Simplify Task::execute()

Author: rhaschke

core/src/task.cpp

@@ -312,8 +312,7 @@ moveit::core::MoveItErrorCode Task::execute(const SolutionBase& s) {
 	}
 
 	auto result_future = execute_ac_->async_get_result(goal_handle);
-	rclcpp::WallRate r(100);
-	while (result_future.wait_for(std::chrono::seconds(0)) != std::future_status::ready) {
+	while (result_future.wait_for(std::chrono::milliseconds(10)) != std::future_status::ready) {
 		if (pimpl()->preempt_requested_) {
 			auto cancel_future = execute_ac_->async_cancel_goal(goal_handle);
 			if (rclcpp::spin_until_future_complete(execute_solution_node_, cancel_future) !=
@@ -326,7 +325,6 @@ moveit::core::MoveItErrorCode Task::execute(const SolutionBase& s) {
 			}
 		}
 		rclcpp::spin_some(execute_solution_node_);
-		r.sleep();
 	}
 
 	auto result = result_future.get();