Call services and send action goals in new threads by default (#996)

* Call services in new threads by default

* Send action goals in new threads by default

Author: bjsowa

rosbridge_server/launch/rosbridge_websocket_launch.xml

@@ -16,9 +16,9 @@
   <arg name="unregister_timeout" default="10.0" />
 
   <arg name="use_compression" default="false" />
-  <arg name="call_services_in_new_thread" default="false" />
+  <arg name="call_services_in_new_thread" default="true" />
   <arg name="default_call_service_timeout" default="5.0" />
-  <arg name="send_action_goals_in_new_thread" default="false" />
+  <arg name="send_action_goals_in_new_thread" default="true" />
 
   <arg name="topics_glob" default="" />
   <arg name="services_glob" default="" />

rosbridge_server/scripts/rosbridge_websocket.py

@@ -175,15 +175,15 @@ def protocol_parameter_handling(self):
         RosbridgeWebSocket.use_compression = self.declare_parameter("use_compression", False).value
 
         RosbridgeWebSocket.call_services_in_new_thread = self.declare_parameter(
-            "call_services_in_new_thread", False
+            "call_services_in_new_thread", True
         ).value
 
         RosbridgeWebSocket.default_call_service_timeout = self.declare_parameter(
             "default_call_service_timeout", 5.0
         ).value
 
         RosbridgeWebSocket.send_action_goals_in_new_thread = self.declare_parameter(
-            "send_action_goals_in_new_thread", False
+            "send_action_goals_in_new_thread", True
         ).value
 
         # get RosbridgeProtocol parameters