Issue with calling service spawn_entity after some successful attempts.

[MagdalenaKotynia]

Describe the bug
The issue related to rai_sim package, commit: f243525
When running scene_setup method of O3DExROS2Bridge in a loop the following error occurs after some successful attempts:

Exception in thread Thread-1 (spin):
Traceback (most recent call last):
  File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner
    self.run()
  File "/usr/lib/python3.10/threading.py", line 953, in run
    self._target(*self._args, **self._kwargs)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 294, in spin
    self.spin_once()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 794, in spin_once
    self._spin_once_impl(timeout_sec)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 791, in _spin_once_impl
    future.result()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 94, in result
    raise self.exception()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in __call__
    self._handler.send(None)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 430, in handler
    arg = take_from_wait_list(entity)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 354, in _take_subscription
    with sub.handle:
rclpy._rclpy_pybind11.InvalidHandle: cannot use Destroyable because destruction was requested

The number of attempts after the error occurs is different each time.

The errors occurs here when
trying to call service spawn_entity and is not being catched through try-except (when trying to do so).

To Reproduce
Steps to reproduce the behavior:

1. Go to f243525
2. Setup RAI (follow the README)
3. Setup RAI manipulation demo (follow the README)
4. Download binary
5. Save the following content as base_config1.yaml:

entities:
  - name: cube1
    prefab_name: green_cube
    pose:
      translation:
        x: 0.5
        y: 0.3
        z: 0.06
      rotation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0

  - name: cube2
    prefab_name: green_cube
    pose:
      translation:
        x: 0.5
        y: 0.4
        z: 0.06
      rotation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0

6. Save the following content as o3de_config.yaml (adjust path to binary and launch file if needed):

binary_path: RAIManipulationDemoBenchmark_jammyhumble/RAIManipulationDemo/RAIManipulationDemo.GameLauncher
robotic_stack_command: ros2 launch examples/manipulation-demo-no-binary.launch.py 

7. Run the following python script (adjust paths to yaml configs if needed):

import rclpy
from rai_sim.o3de.o3de_bridge import O3DExROS2Bridge, O3DExROS2SimulationConfig
from rai.communication.ros2.connectors import ROS2ARIConnector
import time

from pathlib import Path

if __name__ == "__main__":

    try:
        rclpy.init()
        connector = ROS2ARIConnector()
        o3de = O3DExROS2Bridge(connector)
        for i in range(300):
            print("ATTEMPT NUMBER: ", i)
            scene_config  = O3DExROS2SimulationConfig.load_config(base_config_path=Path("base_config1.yaml"), connector_config_path=Path("o3de_config.yaml"))
            o3de.setup_scene(scene_config)
    except Exception as e:
        raise e
    finally:
        o3de.shutdown()
        
        
        connector.shutdown()
        rclpy.shutdown()

Expected behavior
After i-th attempt it is expected to have the following error:

Exception in thread Thread-1 (spin):
Traceback (most recent call last):
  File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner
    self.run()
  File "/usr/lib/python3.10/threading.py", line 953, in run
    self._target(*self._args, **self._kwargs)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 294, in spin
    self.spin_once()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 794, in spin_once
    self._spin_once_impl(timeout_sec)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 791, in _spin_once_impl
    future.result()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 94, in result
    raise self.exception()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in __call__
    self._handler.send(None)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 430, in handler
    arg = take_from_wait_list(entity)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 354, in _take_subscription
    with sub.handle:
rclpy._rclpy_pybind11.InvalidHandle: cannot use Destroyable because destruction was requested

Platform

• OS: 22.04
• ROS 2 Version: Humble

Version
f243525

[rachwalk]

Has been addressed in #428, this issue should be closed after #415 is merged.

[rachwalk]

Since #415 has been changed from the feature branch to be based on #435, close this issue after the latter is merged to develop.