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service call without blocking other callbacks

asked 2021-06-03 01:46:07 -0500

gab27 gravatar image

updated 2021-06-03 07:59:12 -0500


I would like to call a service a which moves a joint to a specific position and returns true if it has finished. The problem is I need other callback functions, one b which receives the current joint position. By executing the service call a, callback b is blocked and therefore I cannot verify that the joint is at the desired location. Does someone have an idea how to solve this problem?


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answered 2021-06-04 16:17:42 -0500

JackB gravatar image

Check out "Multi Thread Spinning" @ Callbacks and Spinning. This should all you to have multiple services/callbacks run at the same time without the service holding everything up.

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Asked: 2021-06-03 01:46:07 -0500

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Last updated: Jun 04 '21