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So far I ended up mixing spin and spinOnce but something tells me that this is far from optimal.

Yes. Please try to not do that.

I guess this design challenge has some better well-proven solutions

I would say this is coordination, for which one of the accepted approaches is using state machines (or state charts, behaviour trees, or similar formalisms).

See #q273811 for a similar question (and the answer to that).

So far I ended up mixing spin and spinOnce but something tells me that this is far from optimal.

Yes. Please try to not do that.

I am struggling with a good design for nodes that when receiving a callback must perform a sequence of interactions with one or more other ros nodes. [..] I guess this design challenge has some better well-proven solutions

I would say this is coordination, for which one of the accepted approaches is using state machines (or state charts, behaviour trees, or similar formalisms).

See #q273811 for a similar question (and the answer to that).

So far I ended up mixing spin and spinOnce but something tells me that this is far from optimal.

Yes. Please try to not do that.

I am struggling with a good design for nodes that when receiving a callback must perform a sequence of interactions with one or more other ros nodes. [..] I guess this design challenge has some better well-proven solutions

I would say this is coordination, for which one of the accepted approaches is using state machines (or state charts, behaviour trees, or similar formalisms).formalisms). State machines are really well suited for modelling "sequence[s] of interactions" based on state (ie: events).

See #q273811 for a similar question (and the answer to that).