how to use multi-threads (user-input, subscriber and srv-client)?
Hi, I am using ROS2 foxy and I am struggling with simultanious execution of some code (that is somehow dependend on each other).
summary:
I want a node, that simultaniously runs a loop with user Input/Output, acts as a client for a service (takes a few seconds) and is also able to recieve messages over a topic.
more detailed:
I want to make a "task-control-unit" which is a class named CTaskControl inheriting from rclcpp::node. It has a method mUserInterface which accepts user-inputs to start some other Methods (if the user want to start them). It should also subscribe to a topic to recieve some data. And it should also, once in a while start a service and wait for the response.
I am trying to start a thread in the constructor of CTaskControl with pthread_create(&mUiThreadId, NULL, &mUserInterface, NULL); but then I need to make the method static, which then don't allow to call methods with this-><...method-to-start-service-etc...>.
I am not sure if I miss something or if there is a completely other solution which makes everything easier.. I also thought about adding several nodes to an executor and spin them, but then I have a problem with the communication between the threads because how do I start a method from another class then?
In the foxy tutorials there are always examples for only one subscriber, client, etc. but I didn't find an example how to combine them. I would appreciate any hints :)
