use asyncio event loop

src/api_communication/api_communication/api_listener.py

@@ -52,4 +52,6 @@ async def main(args=None):
     rclpy.shutdown()
 
 print("running main")
-asyncio.run(main())
+loop = asyncio.get_event_loop()
+loop.run_until_complete(main())
+loop.run_forever()