Don't block until waiting for service

Signed-off-by: Christoph Froehlich <[email protected]>

nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp

@@ -189,10 +189,11 @@ class BtServiceNode : public BT::ActionNodeBase
     auto remaining = server_timeout_ - elapsed;
 
     if (remaining > std::chrono::milliseconds(0)) {
-      auto timeout = remaining > bt_loop_duration_ ? bt_loop_duration_ : remaining;
 
       rclcpp::FutureReturnCode rc;
-      rc = callback_group_executor_.spin_until_future_complete(future_result_, timeout);
+      rc = callback_group_executor_.spin_until_future_complete(
+        future_result_, std::chrono::milliseconds(
+          0)); // don't wait for the future to complete, just check if it has
       if (rc == rclcpp::FutureReturnCode::SUCCESS) {
         request_sent_ = false;
         BT::NodeStatus status = on_completion(future_result_.get());