Hi, I'm quite new to ROS, and trying to work on a project in ROS2. I want to create a node which acts as an action server. In order for the action server to know the right feedback to give to the client, I need to save information that I can get from another node publishing it on a topic. I tried just

lass MissionExecuter(Node):
def __init__(self):
    super().__init__('SantaMissionExecuter') #type: ignore

    self.current_position = Pose()
    self.move_up_action_server = ActionServer(self, MoveUpAction, 'move_up', self.move_up_callback)
    self.setpoint_pos_local_publisher = self.create_publisher(PoseStamped, '/drone1/setpoint_position/local', 0)
    self.local_pos_subscriber = self.create_subscription(Odometry,
                                                         '/drone1/global_position/local',
                                                         self.get_current_position_callback, 10)

def move_up_callback(self, goal_handle):
    self.get_logger().info(f'Accepted Goal of going up {goal_handle.request.distance} meters.')

    initial_height = self.current_position.position.z
    goal_height = initial_height + goal_handle.request.distance

    self.move_up_publish_move_local(goal_handle.request.distance)

    feedback_msg = MoveUpAction.Feedback()

    while (self.current_position.position.z < goal_height):
        feedback_msg.relative_height = self.current_position.position.z - initial_height
        self.get_logger().info(f'Sending Feedback: {feedback_msg.relative_height}')
        goal_handle.publish_feedback(feedback_msg)
        time.sleep(0.5)

    goal_handle.succeed()

    result = MoveUpAction.Result()
    result.final_height_above_takeoff = self.current_position.position.z
    return result

def move_up_publish_move_local(self, distance: float) -> None:
    self.get_logger().info('Publishing move local request')
    msg = PoseStamped()
    msg.pose.position.z = distance
    self.setpoint_pos_local_publisher.publish(msg)

def get_current_position_callback(self, msg: Odometry):
    self.get_logger().info(f'Got position data: {msg.pose.pose.position.z}')
    self.current_position = msg.pose.pose


def main(args=None):
    spin_and_catch_errors_with_multi_thread(MissionExecuter, args)

However, I suspect that the ActionServer disables the topic subscriber callback, even though It runs multi threaded (see appendix) Any help? Thank you

def spin_and_catch_errors_with_multi_thread(node_class, args=None) -> None:
rclpy.init(args=args)
node = node_class()
executor = MultiThreadedExecutorCatchExceptions(num_threads=5)
while rclpy.ok():
    try:
        rclpy.spin_once(node, executor=executor)
    except Exception as e:
        node.get_logger().error(f"Error of type: {type(e)} \n Error content: {traceback.format_exc()}")
node.destroy_node()
rclpy.shutdown()

enter code here