Hi all,
I work with the sushi repository from the [ICRA Mobile Manipulation Challenge](https://kforge.ros.org/Sushi/trac/wiki).
When instantiating the *ArmMover* I get "CannotSendRequest" and "ResponseNotReady" exceptions. The *ArmMover* class creates multiple *ArmMoverWorker*, which run their own threads. The reason for the crash seems to be **requests to the parameter server from multiple threads**.
Can the parameter server process multiple requests from different threads running on the same node?
As a workaround I moved the parameter requests into the constructor of the *ArmMoverWorker* (before the thread is started) and then it works fine.
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