You might want to have a look at this:
I implemented asynchronous spinning for my ros2_components a while ago.
But I have to warn you that the standard syntax for using clients won’t work anymore if you spin the executor async.
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You might want to have a look at this:
I implemented asynchronous spinning for my ros2_components a while ago.
But I have to warn you that the standard syntax for using clients won’t work anymore if you spin the executor async.