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Hi!

I'm not really sure if I understand the problem fully. But what happens if you follow method A, but omit the rospy.spin()?

rospy.spin() is usually used when you don't want to do nothing more, and just wait for the callbacks to get triggered. This is no te case, as rqt will still need to do things.

Hi!

I'm not really sure if I understand the problem fully. But what happens if you follow method A, but omit the rospy.spin()?

rospy.spin() is usually used when you don't want to do nothing more, and just wait for the callbacks to get triggered. This is no te case, as rqt will still need to do things.

EDIT based on on your comment. I do not know what triggers the 'visual_callback' in your code (if that's the one you are stating that runs only once). More code/information is needed to better understand your problem.