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From the Callbacks and Subscribers wiki,

#include <ros/callback_queue.h>
ros::NodeHandle n;
while (ros::ok())
{
  ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.1));
}

Is the equivalent implementation of ros::spin(). That page should also have some different ways of implementing multhread spinning, although none of them are event driven that I can tell.

From the Callbacks and Subscribers wiki,

#include <ros/callback_queue.h>
ros::NodeHandle n;
while (ros::ok())
{
  ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.1));
}

Is the equivalent implementation of ros::spin(). That page should also have some different ways of implementing multhread spinning, although none of them are event driven that I can tell. .