a

robomaster_pi/command_executer.py

@@ -2,6 +2,7 @@ import rclpy
 from rclpy.node import Node
 from std_msgs.msg import String
 import subprocess
+import threading
 
 class CommandExecutor(Node):
     def __init__(self):
@@ -16,6 +17,10 @@ class CommandExecutor(Node):
 
     def execute_command_callback(self, msg):
         command = msg.data
+        # Führe den Befehl in einem separaten Thread aus
+        threading.Thread(target=self.execute_command, args=(command,)).start()
+
+    def execute_command(self, command):
         try:
             subprocess.run(command, shell=True, check=True)
         except subprocess.CalledProcessError as e:
@@ -31,5 +36,4 @@ def main(args=None):
     rclpy.shutdown()
 
 if __name__ == '__main__':
-    main()
-
+    main()
\ No newline at end of file