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I need to covert single incoming messages from a GUI (following the logic publish once) and in the callback invoke a service request to a device. The service request should wait for a response, which leads me to rclcpp::spin_until_future_complete() but this results in conflicts when running rclcpp::spin(node) in the Main.

I'm now asking for an example on how to resolve this issue (multithreaded executor/multithreading??)

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I think this previous answer explains what you want to achieve.

See also this answer for another example.

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  • $\begingroup$ Thanks for the reply, this really helped solving the issue $\endgroup$
    – JS-FWR
    Commented Apr 7 at 13:03

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