How to solve in parallel without using the task composer

[JayanthSuresh]

I recently updated the tesseract version from 0.22.0 to 0.32.0. In the past, I would spin up multiple threads to solve for multiple trajectories using the same environment. After the update, I noticed that spinning up multiple threads didn't seem to help anymore and appears to be blocking the other threads from planning. Is there an alternative way to plan in parallel ?

I have multiple threads calling the function below to solve in parallel

   CustomPlanner::Solve(const Eigen::VectorXd& start,
                                        geometry_msgs::msg end_pose){
    tesseract_planning::CompositeInstruction program;
    program.setManipulatorInfo(manipulator_);
    tesseract_planning::JointWaypointPoly start_waypoint{tesseract_planning::JointWaypoint(joint_names_, start)};
    
    // The profiles are already created and added to the profile dictionary profiles_
    std::vector<std::string> profiles = {"profile_1", "profile_2"};
    
    for (const auto& profile : profiles) {
        program.clear();
        program.setProfile(profile);
        
        // Create the end waypoint
        Eigen::Isometry3d end_pose;
        tf2::fromMsg(pose, end_pose);
        const tesseract_planning::CartesianWaypointPoly cartesian_waypoint{
            tesseract_planning::CartesianWaypoint(end_pose)};
        const tesseract_planning::MoveInstruction plan(
            cartesian_waypoint, tesseract_planning::MoveInstructionType::LINEAR, profile, manipulator_);

        // Add end waypoint to the program
        program.push_back(plan);

        // Solve for trajectory
        tesseract_planning::CompositeInstruction interpolated_program = tesseract_planning::generateInterpolatedProgram(
program, env_, state_longest_valid_segment_length_rad, translation_longest_valid_segment_length_m,
rotation_longest_valid_segment_length_rad, min_steps);
        
        // Create a planning request
        tesseract_planning::PlannerRequest request;
        request.instructions = interpolated_program;
        request.env = env_;
        request.profiles = profiles_;
    
        tesseract_planning::DescartesMotionPlannerD descartes_planner_{profile};
    
        // Solve for the trajectory
        tesseract_planning::PlannerResponse planner_response = descartes_planner_.solve(request);
                
        }
    
    }