Single threaded executor

Author: sea-bass

rosbridge_library/test/capabilities/test_action_capabilities.py

@@ -7,7 +7,7 @@
 import rclpy
 from action_msgs.msg import GoalStatus
 from example_interfaces.action._fibonacci import Fibonacci_FeedbackMessage
-from rclpy.executors import MultiThreadedExecutor
+from rclpy.executors import SingleThreadedExecutor
 from rclpy.node import Node
 from rclpy.qos import DurabilityPolicy, QoSProfile, ReliabilityPolicy
 from rosbridge_library.capabilities.action_feedback import ActionFeedback
@@ -25,12 +25,12 @@
 class TestActionCapabilities(unittest.TestCase):
     def setUp(self):
         rclpy.init()
-        self.executor = MultiThreadedExecutor()
+        self.executor = SingleThreadedExecutor()
         self.node = Node("test_action_capabilities")
         self.executor.add_node(self.node)
 
         self.node.declare_parameter("call_services_in_new_thread", False)
-        self.node.declare_parameter("send_action_goals_in_new_thread", False)
+        self.node.declare_parameter("send_action_goals_in_new_thread", True)
 
         self.proto = Protocol(self._testMethodName, self.node)
         # change the log function so we can verify errors are logged