add task wrapper for api

src/api_communication/api_communication/api_listener.py

@@ -22,7 +22,7 @@ class ApiListener(Node):
         self.last_battery_percentage = msg.battery_percentage
         self.last_cpu_usage = msg.cpu_usage
 
-    async def spin(self):
+    async def handle_api(self):
         self.get_logger().info('Starting API')
         self.server = await websockets.serve(self.api_handler, '0.0.0.0', 9001)
         self.get_logger().info('API started')
@@ -31,8 +31,7 @@ class ApiListener(Node):
     
     async def api_handler(self, websocket):
         try:
-            while rclpy.ok():
-                rclpy.spin_once(self, timeout_sec=0.1)
+            while True:
                 message = await websocket.recv()
                 self.get_logger().info('Received message: {0}'.format(message))
                 await websocket.send("Yeet ")
@@ -45,9 +44,12 @@ async def main(args=None):
 
     api_listener = ApiListener()
 
-    await api_listener.spin()
+    # start the websockets api in its own task wrapper
+    asyncio.ensure_future(api_listener.handle_api())
+    rclpy.spin(api_listener)
 
     api_listener.destroy_node()
     rclpy.shutdown()
 
+print("running main")
 asyncio.run(main())