rosapi breaks ros2 param list

[bmartin427]

Description

A system containing an instance of the rosapi_node cannot have its parameters dumped via the ros2 param list CLI tool. Attempting to do so just results in the CLI tool wedging indefinitely. This is due to the fact that the rosapi process in fact instantiates two nodes, but only spins one of them. The CLI tool attempts to invoke the advertised service call /rosapi_params/list_parameters, but nothing ever responds to that service.

• Library Version: 1.3.2-1jammy.20240712.001200
• ROS Version: iron
• Platform / OS: Ubuntu 22.04

Steps To Reproduce

• ros2 run rosapi rosapi_node
• ros2 param list

Expected Behavior

ros2 param list process completes eventually with a list of parameters

Actual Behavior

ros2 param list wedges indefinitely