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I think you're on the right track. But I wouldn't say that the action server "disables" the subscription, as much as it "blocks" the subscription. I believe the issue is that you must have the action server and odom subscription in separate Callback Groups. Having everything in the same same (default mutually exclusive) callback group is the same as a single-threaded executor, regardless of executor or number of threads type.
You'll need to create at least 2 callback groups (or one re-entrant cb group) and use one cb group for the action server, and the other for the subscription. Then your multi-threaded executor should behave as you expect.
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