Decouple server implementation #156
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Cleanup ServerInterface
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jhurliman
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**Public-Facing Changes** - Run client handlers in separate thread **Description** Builds on top of #156 So far we have executed client handler functions in the websocket server thread. This could cause issues with clients not receiving messages anymore while a longer-running handler function was executing. This PR fixes this by handler functions being executed in a separate thread. Fixes #164 Fixes FG-2029
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Public-Facing Changes
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Description
This PR is a major refactoring that reduces the coupling between the websocket server implementation (websocketpp / nlohmann::json) and the ROS node side. The main benefits are:
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