From c0509e63977fef60fd9ee6bcc8939a810356285c Mon Sep 17 00:00:00 2001
From: Roelof Oomen <rj.oomen@isohorti.com>
Date: Tue, 9 Jul 2024 07:30:26 +0200
Subject: [PATCH] Change ROSPlotting to use a SingleThreadedExecutor

---
 tesseract_rosutils/include/tesseract_rosutils/plotting.h | 2 +-
 tesseract_rosutils/src/plotting.cpp                      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/tesseract_rosutils/include/tesseract_rosutils/plotting.h b/tesseract_rosutils/include/tesseract_rosutils/plotting.h
index 24ee3570..5d5500ee 100644
--- a/tesseract_rosutils/include/tesseract_rosutils/plotting.h
+++ b/tesseract_rosutils/include/tesseract_rosutils/plotting.h
@@ -136,7 +136,7 @@ class ROSPlotting : public tesseract_visualization::Visualization
   std::string topic_namespace_; /**< Namespace used when publishing markers */
   int marker_counter_{ 0 };     /**< Counter when plotting */
   rclcpp::Node::SharedPtr internal_node_;
-  rclcpp::executors::MultiThreadedExecutor::SharedPtr internal_node_executor_;
+  rclcpp::executors::SingleThreadedExecutor::SharedPtr internal_node_executor_;
   std::shared_ptr<std::thread> internal_node_spinner_;
   rclcpp::Publisher<tesseract_msgs::msg::SceneGraph>::SharedPtr scene_pub_;           /**< Scene publisher */
   rclcpp::Publisher<tesseract_msgs::msg::Trajectory>::SharedPtr trajectory_pub_;      /**< Trajectory publisher */
diff --git a/tesseract_rosutils/src/plotting.cpp b/tesseract_rosutils/src/plotting.cpp
index d4b03a42..7c88e7a5 100644
--- a/tesseract_rosutils/src/plotting.cpp
+++ b/tesseract_rosutils/src/plotting.cpp
@@ -71,7 +71,7 @@ ROSPlotting::ROSPlotting(std::string root_link, std::string topic_namespace)
                                                                                                              "path",
                                                                                           1);
 
-  internal_node_executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
+  internal_node_executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
   internal_node_spinner_ = std::make_shared<std::thread>([this]() {
     internal_node_executor_->add_node(internal_node_);
     internal_node_executor_->spin();