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Refactor spawner to be able to reuse code for ros2controlcli (backport #1661) #396

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Refactor spawner to be able to reuse code for ros2controlcli (backport #1661)

Refactor spawner to be able to reuse code for ros2controlcli (backport #1661) #396

Run time

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Job Run time
binary (iron, testing) / iron testing
8m 35s
binary (iron, main) / iron main
8m 21s
16m 56s