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rclpy is spinning your node on a single thread. While you are processing the action server request, the rclpy logic that would service node callbacks is blocked.

You can fix this by using a MultiThreadedExecutor, which uses a pool of threads to service callbacks/goal requests.

While in your move_to_callback polling loop, drop a time.sleep(0.0) to yield the thread, and then the MultiThreadedExecutor should come in and service your subscription callback

rclpy is spinning your node on a single thread. While you are processing the action server request, the rclpy logic that would service node callbacks is blocked.

You can fix this by using a MultiThreadedExecutor, which uses a pool of threads to service callbacks/goal requests.

While in your move_to_callback polling loop, drop a time.sleep(0.0) to yield the thread, and then the MultiThreadedExecutor should come in and service your subscription callback

rclpy is spinning your node on a single thread. While you are processing the action server request, the rclpy logic that would service node callbacks is blocked.

You can fix this by using a MultiThreadedExecutor, which uses a pool of threads to service callbacks/goal requests.

Example usage of MultiThreadedExecutor can be found in the ros2 examples repo

Edit: This step was not needed, preserving it so answer comments make sense

While in your move_to_callback polling loop, drop a time.sleep(0.0) to yield the thread, and then the MultiThreadedExecutor should come in and service your subscription callback callback

rclpy is spinning your node on a single thread. While you are processing the action server request, the rclpy logic that would service node callbacks is blocked.

You can fix this by using a MultiThreadedExecutor, which uses a pool of threads to service callbacks/goal requests.

Example usage of MultiThreadedExecutor can be found in the ros2 examples repo

Edit: EDIT: This step was not needed, preserving it so answer comments make sense

While in your move_to_callback polling loop, drop a time.sleep(0.0) to yield the thread, and then the MultiThreadedExecutor should come in and service your subscription callback

rclpy is spinning your node on a single thread. While you are processing the action server request, the rclpy logic that would service node callbacks is blocked.

You can fix this by using a MultiThreadedExecutor, which uses a pool of threads to service callbacks/goal requests.

Example usage of MultiThreadedExecutor can be found in the ros2 examples repo

EDIT: This step was not needed, preserving it so answer comments make sense

While in your move_to_callback polling loop, drop a time.sleep(0.0) to yield the thread, and then the MultiThreadedExecutor should come in and service your subscription callback

rclpy is spinning your node on a single thread. While you are processing the action server request, the rclpy logic that would service node callbacks is blocked.

You can fix this by using a MultiThreadedExecutor, which uses a pool of threads to service callbacks/goal requests.

Example usage of MultiThreadedExecutor can be found in the ros2 examples repo

EDIT: This step was not needed, preserving it so answer comments make sense

While in your move_to_callback polling loop, drop a time.sleep(0.0) to yield the thread, and then the MultiThreadedExecutor should come in and service your subscription callback