You might want to have a look at this: https://github.com/firesurfer/ros2_components/blob/master/src/ros2_components/ManagedNode.cpp I implemented asynchronous spinning for my ros2_components a while ago. But I have to warn you that the standard syntax for using clients won't work anymore if you spin the executor async. --- [Visit Topic](https://discourse.ros.org/t/async-executor-in-ros2/1575/4) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: