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I realize that this thread is pretty old but I ran into the same use case and couldn't find any clear tutorials. I did find some working code; turns out the trick is to run ROS and Flask on different threads. That code has a lot of extra stuff going on so I distilled it down and put it into my own github repo. Here's the link, feel free to post any issues there: https://github.com/stoddabr/ros_flask