ros多线程

AsyncSpinner

int main(int argc, char** argv) {
  std::string node_name = "simple_class_node";
  ros::init(argc, argv, node_name);
  ros::NodeHandle nh("");
  ros::NodeHandle nh_private("~");

  ros::AsyncSpinner spinner(1); // it creates one spinner thread and starts it in parallel with your main thread. 
  spinner.start();

  ros::waitForShutdown(); // ros::waitForShutdown() after the spinner.start() for AsyncSpinner, or the ros node will only spin once.
}

引用ros answer
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ros wiki
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