Use multi-threaded spinner to fix blocking calls

grvcTeam · Sep 19, 2017 · a892061 · a892061
1 parent cf617ee
commit a892061
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/uav_abstraction_layer/src/backend.cpp b/uav_abstraction_layer/src/backend.cpp
@@ -31,7 +31,8 @@ Backend::Backend(grvc::utils::ArgumentParser& _args) {
         ros::init(_args.argc(), _args.argv(), "ual_" + std::to_string(robot_id));
         // Make communications spin!
         spin_thread_ = std::thread([this]() {
-            ros::spin();
+            ros::MultiThreadedSpinner spinner(2); // Use 2 threads
+            spinner.spin();
         });
     }
 }