api/index.js

@@ -80,7 +80,7 @@ var connect_to_api = function () {
     try {
       var msg = JSON.parse(message);
         if (msg.type != "IMAGE") {
-          console.log("got message");
+        //   console.log("got message");
         send_events_to_clients(msg);
       } else {
         console.log("got image");

src/api_communication/api_communication/api_listener.py

@@ -136,7 +136,7 @@ class ApiListener(Node):
     def handle_responses(self):
         while True:
             if len(self.message_queue) > 0 and self.websocket is not None and self.event_loop is not None:
-                self.get_logger().info("sending message")
+                # self.get_logger().info("sending message")
                 asyncio.run(self.publish_message(self.message_queue.pop(0)))
 
     def start_api_thread(self):

src/camera/camera/camera_controller.py

@@ -69,7 +69,7 @@ class CameraController(Node):
                         encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 65]
                         man = cv2.imencode('.jpg', frame, encode_param)[1]
                         self.get_logger().info('Sending video')
-                        await self.websocket.send(man.tobytes())
+                        asyncio.ensure_future(self.websocket.send(man.tobytes()),loop=self.event_loop)
                     else:
                         self.get_logger().info('No websocket connection')
                         await asyncio.sleep(1)