The web app currently invokes the acquisition report service and a motion action at roughly the same time. However, empirically, it seems like rosbridge can only process them one-at-a-time, and in practice ir waits for the acquisition report to succeed before processing the motion. Given this, we should spin off a new thread to process the acquisition report service (e.g., return a succesful response to ROS and then do the work) to allow for greater concurrency.
(We should also dive deeper into the rosbridge issue and create an upstream issue about it.)
The web app currently invokes the acquisition report service and a motion action at roughly the same time. However, empirically, it seems like
rosbridgecan only process them one-at-a-time, and in practice ir waits for the acquisition report to succeed before processing the motion. Given this, we should spin off a new thread to process the acquisition report service (e.g., return a succesful response to ROS and then do the work) to allow for greater concurrency.(We should also dive deeper into the
rosbridgeissue and create an upstream issue about it.)