Canon cameras have a few focus modes including "One Shot", "AI Servo", and a hybrid mode called "AI Focus". By default, the camera uses "One Shot".
In "One Shot" mode, if the auto-focus is enabled on the lens, the camera uses "Focus Priority" -- which means it will not take the shot until the camera can lock focus on at least one focus point. In "AI Servo" mode the camera uses "Release Priority" and will take a shot when you trigger the shutter release ... even if the camera is not focused.
But for purposes of astrophotography, auto-focus isn't going to work anyway... use manual focus. If the AF/MF switch on the lens is in the MF position, the camera will take the shot.
As for camera control... you're likely be happier using an intervalometer to control the camera rather than using the Star Adventurer. I'm reading their docs. When you put it in "time lapse" mode, it simply starts a 100 second cycle where it activates the shutter for 99.5 seconds, and release for .5 seconds... then re-activates for another 99.5 secs, etc. etc. You can put the camera in "bulb" mode if you actually *want* 99.5 second exposures ... but if you want anything less, it needs to be based on the camera's increments (for non-bulb shots) such as 30 secs, 15 secs, etc. etc.
If you were to get an intervalometer, you can set it to anything you want.
Canon's own intervalometer for the 7D is the Canon TC80-N3 ... but it's $135. There are many 3rd party intervalometers that cost less than $50. Quality-wise... an intervalometer is a very simple thing. There are 3 wires in the remote shutter release port. 1 wire is the ground pin. That leaves two more wires... one wire indicates the shutter is "half" pressed. The other wire indicates the shutter is "fully" pressed. It really is as simple as that. So the time built into the shutter release is simply controlling the contact switch on those 3 wires.
You could also get the wi-fi card for the 7D II and control the camera with your phone or a tablet.