add manual spin

src/api_communication/api_communication/api_listener.py

@@ -22,6 +22,10 @@ class ApiListener(Node):
         self.last_battery_percentage = msg.battery_percentage
         self.last_cpu_usage = msg.cpu_usage
     
+    def spin(self):
+        while rclpy.ok():
+            rclpy.spin_once(self,timeout_sec=0.1)
+
     async def handle_api(self):
         self.get_logger().info('Starting API')
         self.server = await websockets.serve(self.api_handler, '0.0.0.0', 9001)
@@ -46,7 +50,7 @@ async def main(args=None):
 
     # start the websockets api in its own task wrapper
     asyncio.ensure_future(api_listener.handle_api())
-    rclpy.spin(api_listener)
+    api_listener.spin()
 
     api_listener.destroy_node()
     rclpy.shutdown()