Ros2 Action Client does not let me send any more data to rosbridge after sending goal

[rjbrockbundy]

Description
ROS2 action calls from the latest develop branch are freezing other Topic or Service publish calls after the Action Goal is sent to the robot. This occurs until a page refresh when I regain the ability to publish while the action is ongoing.

• Library Version: Latest Development Branch
• ROS Version: Humble
• Platform / OS: React App / Rosbridge / Linux

Steps To Reproduce

const handleStartRoute = () => {
        if (!ros) return;
        console.log('Route start')

        var startRouteAction = new Action({
            ros: ros,
            name: '<action server>',
            actionType: '<action type>'
        });

        var goal = { input: '<some input>' }

        var goal_id = startRouteAction.sendGoal(goal,
            function (result) {
                console.log('Result: ' + startRouteAction.name + ': ' + result);
            },
            function (feedback) {
                console.log('Feedback: ' + feedback);
            },
            function (failed) {
                console.log('Failed: ' + failed);
            }
        );
    }

The Action works fine when sending it from a terminal. And the Robot is receiving the Action Goal when this function is called.

Expected Behavior
I expect the Goal to be sent to the server and continue with the action goal while the user can still interact with the robot (i.e. publish topics / send services)

Actual Behavior
After sening the goal the robot can still receive topic data, however I can no longer publish to the robot whether that be ROS topics or services. The page requires a refresh when an action is sent in order to regain publishing.

[EzraBrooks]

Try setting the send_action_goals_in_new_thread parameter on rosbridge. I don't believe this is a problem with roslibjs.