"True" parallelization in rospy with subscribers

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Hey everyone,

Using Rospy (python 2.7) with Indigo.

I ran into the issue that once I command a moveit group to "go" with wait=True it will be a blocking call that causes my subscription to topics to stop / pause until I run something like rospy.sleep() or something similar to let it catch up and get some data. I think it issues a global lock that blocks all running threads (even subscribers). Is there a better way to do this? I was thinking maybe multiprocessing but I could not get a simple example like this to work:

#! /usr/bin/env python

import rospy
import multiprocessing as mp
from geometry_msgs.msg import PoseStamped

class P1(mp.Process):

    def __init__(self):
        super(P1, self).__init__()
        rospy.init_node('p1')
        self.data = PoseStamped()
        pass

    def run(self):
        rospy.Subscriber("/listener", PoseStamped, self.receive_pose_data)
        rospy.spin()

    def receive_pose_data(self, data):
        print(data)
        self.data = data

    def get_data(self):
        return self.data    

p = P1()
p.start()
while not rospy.is_shutdown():
   rospy.sleep(1)
   print(p.get_data())

Thankful for any advice of what I might be doing wrong here!