Use spin_some for the MPC controller to avoid race condition with tf data

Author: Soroosh129

src/mpc_controller/mpc_controller_main.lf

@@ -45,13 +45,18 @@ reactor mpc_controller {
         self->node_shared_ptr = std::shared_ptr<motion::control::mpc_controller_nodes::MpcControllerNode>(self->node);
         //std::cout << self->node->m_controller->get_base_config().safe_deceleration_rate() << std::endl;
 
-        // Spawn thread to spin node for tf stuff
-        pthread_t spinner_thread;
-        pthread_create(
-            &spinner_thread, 
-            NULL, 
-            &spin_node<std::shared_ptr<motion::control::mpc_controller_nodes::MpcControllerNode>>, 
-            static_cast<void*>(new std::shared_ptr<motion::control::mpc_controller_nodes::MpcControllerNode>(self->node_shared_ptr)));
+        // Spawn thread to spin node for tf stuff (FIXME: Causes a segfault)
+        // pthread_t spinner_thread;
+        // pthread_create(
+        //     &spinner_thread, 
+        //     NULL, 
+        //     &spin_node<std::shared_ptr<motion::control::mpc_controller_nodes::MpcControllerNode>>, 
+        //     static_cast<void*>(new std::shared_ptr<motion::control::mpc_controller_nodes::MpcControllerNode>(self->node_shared_ptr)));
+    =}
+
+    timer ros_spin(0, 1 msec);
+    reaction(ros_spin) {=
+        rclcpp::spin_some(self->node_shared_ptr);
     =}
 
     // The order of reactions is important.

tests/src/mpc_controller_test.lf

@@ -1,5 +1,6 @@
 target CCpp {
-    coordination: decentralized
+    coordination: decentralized,
+    build-type: RelWithDebInfo
 };
 
 import lgsvl_interface from "../../src/lgsvl_interface/lgsvl_interface_main.lf"