change to multithreaded executor

2023-05-29 18:38:52 +02:00
parent b502c5b285
commit 6010f903cb
1 changed files with 3 additions and 2 deletions
--- a/src/api_communication/api_communication/api_listener.py
+++ b/src/api_communication/api_communication/api_listener.py
@@ -220,8 +220,9 @@ def main(args=None):
    rclpy.init(args=args)

    api_listener = ApiListener()
-
-    rclpy.spin(api_listener)
+    multithreaded_executor = rclpy.executors.MultiThreadedExecutor()
+    multithreaded_executor.add_node(api_listener)
+    multithreaded_executor.spin()

    api_listener.destroy_node()
    rclpy.shutdown()