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It sounds like you want an async spinner. See this article for a pretty thorough example. I will also call out this quote from the Conclusion. I do believe it is good advice:

A good practice is to always keep your callback functions fast

It sounds like you want an async spinner. See this article for a pretty thorough example. I will also call out this quote from the Conclusion. I do believe it is good advice:

A good practice is to always keep your callback functions fast

EDIT: Did not see your [ROS2] tag until I posted. Check out multithreaded_executor's in ROS2