run stuff on multithreaded executor

uci-uav-forge · Jun 26, 2024 · 5d03a42 · 5d03a42
1 parent 6f51a12
commit 5d03a42
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/scripts/demo_commander_node.py b/scripts/demo_commander_node.py
@@ -5,6 +5,7 @@
 import mavros_msgs.srv
 import rclpy
 import rclpy.node
+from rclpy.executors import MultiThreadedExecutor
 import argparse
 from threading import Thread
 import sys
@@ -29,7 +30,10 @@
 
     node = CommanderNode(args)
 
-    spinner = Thread(target = rclpy.spin, args = (node,))
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+
+    spinner = Thread(target = executor.spin)
     spinner.start()
 
     node.execute_mission_loop()