I ran into a similar issue in my own code, so I did some experiments with this issue

I reverted #4558 and https://github.com/ros-navigation/navigation2/pull/5055/files, running colcon test gives me the following result

[  FAILED  ] IsBatteryChargingConditionTestFixture.test_behavior_power_supply_status
[  FAILED  ] IsBatteryLowConditionTestFixture.test_behavior_percentage
[  FAILED  ] IsBatteryLowConditionTestFixture.test_behavior_voltage

If I change the spin_all to spin_some in goal_updater, then it will also report a failing test

[  FAILED  ] GoalUpdaterTestFixture.test_get_latest_goal_update

Specifically, it fails when the subscriber is failing to get the latest data from the publisher, it gets goal_to_update_1 instead of goal_to_update_2

navigation2/nav2_behavior_tree/test/plugins/decorator/test_goal_updater_node.cpp

Lines 214 to 228 in 69a60df

    
           goal_updater_pub->publish(goal_to_update_1); 
        
           goals_updater_pub->publish(goals_to_update_1); 
        
           goal_updater_pub->publish(goal_to_update_2); 
        
           goals_updater_pub->publish(goals_to_update_2); 
        
           tree_->rootNode()->executeTick(); 
        
           geometry_msgs::msg::PoseStamped updated_goal; 
        
           nav_msgs::msg::Goals updated_goals; 
        
           EXPECT_TRUE(config_->blackboard->get("updated_goal", updated_goal)); 
        
           EXPECT_TRUE(config_->blackboard->get("updated_goals", updated_goals)); 
        
           // expect to succeed 
        
           EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS); 
        
           // expect to update goal with latest goal update 
        
           EXPECT_EQ(updated_goal, goal_to_update_2); 
        
           EXPECT_EQ(updated_goals, goals_to_update_2);

Reverting all double spin and make spin_some to spin_all passes all tests, I also think spin_all makes more sense here

	goal_updater_pub->publish(goal_to_update_1);
	goals_updater_pub->publish(goals_to_update_1);
	goal_updater_pub->publish(goal_to_update_2);
	goals_updater_pub->publish(goals_to_update_2);
	tree_->rootNode()->executeTick();
	geometry_msgs::msg::PoseStamped updated_goal;
	nav_msgs::msg::Goals updated_goals;
	EXPECT_TRUE(config_->blackboard->get("updated_goal", updated_goal));
	EXPECT_TRUE(config_->blackboard->get("updated_goals", updated_goals));

	// expect to succeed
	EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
	// expect to update goal with latest goal update
	EXPECT_EQ(updated_goal, goal_to_update_2);
	EXPECT_EQ(updated_goals, goals_to_update_2);

Revert Double Spin in #4558 once rclcpp #2589 fixed #4567

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