Bitcoins stuck - No double spend possible
Yes, waiting is the right thing to do, and pretty much the only thing you can do. Because your transaction is valid, it is likely to be incorporated into a block, even though it doesn't have a fee.

According to Blockchain.info, your transaction was successfully mined into a block 21 hours after you first submitted it. Because of this, you can now go and spend this transaction... which you already have, by the time I wrote this answer.