From 2ee2536007c57972d0dd3d2089edeef0e2bbe18f Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Mon, 22 May 2023 12:10:29 +0200 Subject: [PATCH] switch to threading --- src/api_communication/api_communication/api_listener.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/api_communication/api_communication/api_listener.py b/src/api_communication/api_communication/api_listener.py index 85acf306..1df6ead7 100644 --- a/src/api_communication/api_communication/api_listener.py +++ b/src/api_communication/api_communication/api_listener.py @@ -3,13 +3,15 @@ from rclpy.node import Node import asyncio import websockets.server +import threading class ApiListener(Node): def __init__(self): super().__init__('api_listener') self.get_logger().info('ApiListener node started') - self.api_coro = asyncio.to_thread(self.run_api) - self.server_task = asyncio.create_task(self.api_coro) + self.angle = 30 + server_thread = threading.Thread(target=self.run_api) + server_thread.start() async def run_api(self): self.get_logger().info('Starting API')