diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 1d6aa37b..e6aed2ef 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -7,7 +7,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
-      - uses: ros-tooling/setup-ros@v0.1
+      - uses: ros-tooling/setup-ros@v0.2
         with:
           required-ros-distributions: "noetic rolling"
       - name: Build and test ros1-bridge
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b303dc77..af79cdc6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -223,35 +223,44 @@ endif()
 macro(targets)
   set(TEST_BRIDGE_RMW ${rmw_implementation})
 
-  configure_file(
-    test/test_topics_across_dynamic_bridge.py.in
-    test_topics_across_dynamic_bridge${target_suffix}.py.genexp
-    @ONLY
-  )
-  file(GENERATE
-    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
-    INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}.py.genexp"
-  )
-  add_launch_test(
-    "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
-    TARGET test_topics_across_dynamic_bridge${target_suffix}
-    ENV RMW_IMPLEMENTATION=${rmw_implementation}
-    TIMEOUT 60)
-
-  configure_file(
-    test/test_services_across_dynamic_bridge.py.in
-    test_services_across_dynamic_bridge${target_suffix}.py.genexp
-    @ONLY
-  )
-  file(GENERATE
-    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
-    INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}.py.genexp"
-  )
-  add_launch_test(
-    "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
-    TARGET test_services_across_dynamic_bridge${target_suffix}
-    ENV RMW_IMPLEMENTATION=${rmw_implementation}
-    TIMEOUT 60)
+  list(LENGTH DYNAMIC_BRIDGE_TYPE count)
+  math(EXPR count "${count}-1")
+  foreach(i RANGE ${count})
+    list(GET DYNAMIC_BRIDGE_TYPE ${i} bridge_type)
+    list(GET DYNAMIC_BRIDGE_ARG ${i} bridge_arg)
+    set(TEST_BRIDGE_DYNAMIC_BRIDGE_ARG "${bridge_arg}")
+
+    configure_file(
+      test/test_topics_across_dynamic_bridge.py.in
+      test_topics_across_dynamic_bridge${target_suffix}_${bridge_type}.py.genexp
+      @ONLY
+    )
+    file(GENERATE
+      OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_${bridge_type}_$<CONFIG>.py"
+      INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_${bridge_type}.py.genexp"
+    )
+    add_launch_test(
+      "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_${bridge_type}_$<CONFIG>.py"
+      TARGET test_topics_across_dynamic_bridge${target_suffix}_${bridge_type}
+      ENV RMW_IMPLEMENTATION=${rmw_implementation}
+      TIMEOUT 60)
+
+    configure_file(
+      test/test_services_across_dynamic_bridge.py.in
+      test_services_across_dynamic_bridge${target_suffix}_${bridge_type}.py.genexp
+      @ONLY
+    )
+    file(GENERATE
+      OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_${bridge_type}_$<CONFIG>.py"
+      INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_${bridge_type}.py.genexp"
+    )
+    add_launch_test(
+      "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_${bridge_type}_$<CONFIG>.py"
+      TARGET test_services_across_dynamic_bridge${target_suffix}_${bridge_type}
+      ENV RMW_IMPLEMENTATION=${rmw_implementation}
+      TIMEOUT 60)
+  endforeach()
+
 endmacro()
 
 if(TEST_ROS1_BRIDGE)
@@ -266,6 +275,12 @@ if(TEST_ROS1_BRIDGE)
   set(TEST_BRIDGE_ROS1_CLIENT "$<TARGET_FILE:test_ros1_client>")
   set(TEST_BRIDGE_ROS1_SERVER "$<TARGET_FILE:test_ros1_server>")
 
+  list(APPEND DYNAMIC_BRIDGE_TYPE "st")
+  list(APPEND DYNAMIC_BRIDGE_ARG " ")
+
+  list(APPEND DYNAMIC_BRIDGE_TYPE "mt")
+  list(APPEND DYNAMIC_BRIDGE_ARG "--multi-threads")
+
   call_for_each_rmw_implementation(targets)
 endif()
 
diff --git a/include/ros1_bridge/bridge.hpp b/include/ros1_bridge/bridge.hpp
index c0485df9..7fb7614d 100755
--- a/include/ros1_bridge/bridge.hpp
+++ b/include/ros1_bridge/bridge.hpp
@@ -104,7 +104,8 @@ create_bridge_from_2_to_1(
   const std::string & ros1_type_name,
   const std::string & ros1_topic_name,
   size_t publisher_queue_size,
-  rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr);
+  rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr,
+  bool custom_callback_group = false);
 
 Bridge2to1Handles
 create_bridge_from_2_to_1(
@@ -116,7 +117,8 @@ create_bridge_from_2_to_1(
   const std::string & ros1_type_name,
   const std::string & ros1_topic_name,
   size_t publisher_queue_size,
-  rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr);
+  rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr,
+  bool custom_callback_group = false);
 
 BridgeHandles
 create_bidirectional_bridge(
@@ -125,7 +127,8 @@ create_bidirectional_bridge(
   const std::string & ros1_type_name,
   const std::string & ros2_type_name,
   const std::string & topic_name,
-  size_t queue_size = 10);
+  size_t queue_size = 10,
+  bool custom_callback_group = false);
 
 }  // namespace ros1_bridge
 
diff --git a/include/ros1_bridge/factory.hpp b/include/ros1_bridge/factory.hpp
index f2d1e34b..35ea046b 100755
--- a/include/ros1_bridge/factory.hpp
+++ b/include/ros1_bridge/factory.hpp
@@ -16,6 +16,7 @@
 #define  ROS1_BRIDGE__FACTORY_HPP_
 
 #include <functional>
+#include <map>
 #include <memory>
 #include <string>
 #include <utility>
@@ -33,6 +34,32 @@
 namespace ros1_bridge
 {
 
+static rclcpp::CallbackGroup::SharedPtr get_callback_group(
+  rclcpp::Node::SharedPtr ros2_node,
+  const std::string & topic_name = "")
+{
+  auto node_base = ros2_node->get_node_base_interface();
+  rclcpp::CallbackGroup::SharedPtr group = nullptr;
+
+  typedef std::map<std::string, rclcpp::CallbackGroup::SharedPtr> CallbackGroupMap;
+  static CallbackGroupMap s_callbackgroups;
+  auto iter = s_callbackgroups.find(topic_name);
+  if (iter != s_callbackgroups.end()) {
+    return iter->second;
+  }
+
+  group = ros2_node->create_callback_group(
+    topic_name.empty() ?
+    // create a shared callback group with Reentrant for creating all ros2 clients and services
+    rclcpp::CallbackGroupType::Reentrant :
+    // create one CallbackGroup with MutuallyExclusive for each topic
+    // to ensure that the message data of each topic is received in order
+    rclcpp::CallbackGroupType::MutuallyExclusive);
+  s_callbackgroups.insert({topic_name, group});
+
+  return group;
+}
+
 template<typename ROS1_T, typename ROS2_T>
 class Factory : public FactoryInterface
 {
@@ -110,10 +137,12 @@ class Factory : public FactoryInterface
     const std::string & topic_name,
     size_t queue_size,
     ros::Publisher ros1_pub,
-    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr)
+    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr,
+    bool custom_callback_group = false)
   {
     auto qos = rclcpp::SensorDataQoS(rclcpp::KeepLast(queue_size));
-    return create_ros2_subscriber(node, topic_name, qos, ros1_pub, ros2_pub);
+    return create_ros2_subscriber(
+      node, topic_name, qos, ros1_pub, ros2_pub, custom_callback_group);
   }
 
   rclcpp::SubscriptionBase::SharedPtr
@@ -122,12 +151,13 @@ class Factory : public FactoryInterface
     const std::string & topic_name,
     const rmw_qos_profile_t & qos,
     ros::Publisher ros1_pub,
-    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr)
+    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr,
+    bool custom_callback_group = false)
   {
     auto rclcpp_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos));
     rclcpp_qos.get_rmw_qos_profile() = qos;
     return create_ros2_subscriber(
-      node, topic_name, rclcpp_qos, ros1_pub, ros2_pub);
+      node, topic_name, rclcpp_qos, ros1_pub, ros2_pub, custom_callback_group);
   }
 
   rclcpp::SubscriptionBase::SharedPtr
@@ -136,7 +166,8 @@ class Factory : public FactoryInterface
     const std::string & topic_name,
     const rclcpp::QoS & qos,
     ros::Publisher ros1_pub,
-    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr)
+    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr,
+    bool custom_callback_group = false)
   {
     std::function<
       void(const typename ROS2_T::SharedPtr msg, const rclcpp::MessageInfo & msg_info)> callback;
@@ -145,6 +176,9 @@ class Factory : public FactoryInterface
       ros1_pub, ros1_type_name_, ros2_type_name_, node->get_logger(), ros2_pub);
     rclcpp::SubscriptionOptions options;
     options.ignore_local_publications = true;
+    if (custom_callback_group) {
+      options.callback_group = ros1_bridge::get_callback_group(node, topic_name);
+    }
     return node->create_subscription<ROS2_T>(
       topic_name, qos, callback, options);
   }
@@ -325,10 +359,16 @@ class ServiceFactory : public ServiceFactoryInterface
   }
 
   ServiceBridge1to2 service_bridge_1_to_2(
-    ros::NodeHandle & ros1_node, rclcpp::Node::SharedPtr ros2_node, const std::string & name)
+    ros::NodeHandle & ros1_node, rclcpp::Node::SharedPtr ros2_node, const std::string & name,
+    bool custom_callback_group = false)
   {
     ServiceBridge1to2 bridge;
-    bridge.client = ros2_node->create_client<ROS2_T>(name);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr;
+    if (custom_callback_group) {
+      group = ros1_bridge::get_callback_group(ros2_node);
+    }
+    bridge.client = ros2_node->create_client<ROS2_T>(
+      name, rmw_qos_profile_services_default, group);
     auto m = &ServiceFactory<ROS1_T, ROS2_T>::forward_1_to_2;
     auto f = std::bind(
       m, this, bridge.client, ros2_node->get_logger(), std::placeholders::_1,
@@ -338,7 +378,8 @@ class ServiceFactory : public ServiceFactoryInterface
   }
 
   ServiceBridge2to1 service_bridge_2_to_1(
-    ros::NodeHandle & ros1_node, rclcpp::Node::SharedPtr ros2_node, const std::string & name)
+    ros::NodeHandle & ros1_node, rclcpp::Node::SharedPtr ros2_node, const std::string & name,
+    bool custom_callback_group = false)
   {
     ServiceBridge2to1 bridge;
     bridge.client = ros1_node.serviceClient<ROS1_T>(name);
@@ -351,7 +392,12 @@ class ServiceFactory : public ServiceFactoryInterface
     f = std::bind(
       m, this, bridge.client, ros2_node->get_logger(), std::placeholders::_1,
       std::placeholders::_2, std::placeholders::_3);
-    bridge.server = ros2_node->create_service<ROS2_T>(name, f);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr;
+    if (custom_callback_group) {
+      group = ros1_bridge::get_callback_group(ros2_node);
+    }
+    bridge.server = ros2_node->create_service<ROS2_T>(
+      name, f, rmw_qos_profile_services_default, group);
     return bridge;
   }
 
diff --git a/include/ros1_bridge/factory_interface.hpp b/include/ros1_bridge/factory_interface.hpp
index ee568d4d..9d4b1cd6 100755
--- a/include/ros1_bridge/factory_interface.hpp
+++ b/include/ros1_bridge/factory_interface.hpp
@@ -90,7 +90,8 @@ class FactoryInterface
     const std::string & topic_name,
     size_t queue_size,
     ros::Publisher ros1_pub,
-    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr) = 0;
+    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr,
+    bool custom_callback_group = false) = 0;
 
   virtual
   rclcpp::SubscriptionBase::SharedPtr
@@ -99,7 +100,8 @@ class FactoryInterface
     const std::string & topic_name,
     const rmw_qos_profile_t & qos_profile,
     ros::Publisher ros1_pub,
-    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr) = 0;
+    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr,
+    bool custom_callback_group = false) = 0;
 
   virtual
   rclcpp::SubscriptionBase::SharedPtr
@@ -108,7 +110,8 @@ class FactoryInterface
     const std::string & topic_name,
     const rclcpp::QoS & qos,
     ros::Publisher ros1_pub,
-    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr) = 0;
+    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr,
+    bool custom_callback_group = false) = 0;
 
   virtual
   void
@@ -123,10 +126,12 @@ class ServiceFactoryInterface
 {
 public:
   virtual ServiceBridge1to2 service_bridge_1_to_2(
-    ros::NodeHandle &, rclcpp::Node::SharedPtr, const std::string &) = 0;
+    ros::NodeHandle &, rclcpp::Node::SharedPtr, const std::string &,
+    bool custom_callback_group = false) = 0;
 
   virtual ServiceBridge2to1 service_bridge_2_to_1(
-    ros::NodeHandle &, rclcpp::Node::SharedPtr, const std::string &) = 0;
+    ros::NodeHandle &, rclcpp::Node::SharedPtr, const std::string &,
+    bool custom_callback_group = false) = 0;
 };
 
 }  // namespace ros1_bridge
diff --git a/src/bridge.cpp b/src/bridge.cpp
index b8f0fa83..80efd87c 100755
--- a/src/bridge.cpp
+++ b/src/bridge.cpp
@@ -76,7 +76,8 @@ create_bridge_from_2_to_1(
   const std::string & ros1_type_name,
   const std::string & ros1_topic_name,
   size_t publisher_queue_size,
-  rclcpp::PublisherBase::SharedPtr ros2_pub)
+  rclcpp::PublisherBase::SharedPtr ros2_pub,
+  bool custom_callback_group)
 {
   auto subscriber_qos = rclcpp::SensorDataQoS(rclcpp::KeepLast(subscriber_queue_size));
   return create_bridge_from_2_to_1(
@@ -88,7 +89,8 @@ create_bridge_from_2_to_1(
     ros1_type_name,
     ros1_topic_name,
     publisher_queue_size,
-    ros2_pub);
+    ros2_pub,
+    custom_callback_group);
 }
 
 Bridge2to1Handles
@@ -101,14 +103,15 @@ create_bridge_from_2_to_1(
   const std::string & ros1_type_name,
   const std::string & ros1_topic_name,
   size_t publisher_queue_size,
-  rclcpp::PublisherBase::SharedPtr ros2_pub)
+  rclcpp::PublisherBase::SharedPtr ros2_pub,
+  bool custom_callback_group)
 {
   auto factory = get_factory(ros1_type_name, ros2_type_name);
   auto ros1_pub = factory->create_ros1_publisher(
     ros1_node, ros1_topic_name, publisher_queue_size);
 
   auto ros2_sub = factory->create_ros2_subscriber(
-    ros2_node, ros2_topic_name, subscriber_qos, ros1_pub, ros2_pub);
+    ros2_node, ros2_topic_name, subscriber_qos, ros1_pub, ros2_pub, custom_callback_group);
 
   Bridge2to1Handles handles;
   handles.ros2_subscriber = ros2_sub;
@@ -123,7 +126,8 @@ create_bidirectional_bridge(
   const std::string & ros1_type_name,
   const std::string & ros2_type_name,
   const std::string & topic_name,
-  size_t queue_size)
+  size_t queue_size,
+  bool custom_callback_group)
 {
   RCLCPP_INFO(
     ros2_node->get_logger(), "create bidirectional bridge for topic %s",
@@ -135,7 +139,7 @@ create_bidirectional_bridge(
   handles.bridge2to1 = create_bridge_from_2_to_1(
     ros2_node, ros1_node,
     ros2_type_name, topic_name, queue_size, ros1_type_name, topic_name, queue_size,
-    handles.bridge1to2.ros2_publisher);
+    handles.bridge1to2.ros2_publisher, custom_callback_group);
   return handles;
 }
 
diff --git a/src/dynamic_bridge.cpp b/src/dynamic_bridge.cpp
index cd2db0c3..de2ba7a9 100644
--- a/src/dynamic_bridge.cpp
+++ b/src/dynamic_bridge.cpp
@@ -25,6 +25,7 @@
 # pragma clang diagnostic push
 # pragma clang diagnostic ignored "-Wunused-parameter"
 #endif
+#include "ros/callback_queue.h"
 #include "ros/ros.h"
 #ifdef __clang__
 # pragma clang diagnostic pop
@@ -70,7 +71,8 @@ bool get_flag_option(const std::vector<std::string> & args, const std::string &
 
 bool parse_command_options(
   int argc, char ** argv, bool & output_topic_introspection,
-  bool & bridge_all_1to2_topics, bool & bridge_all_2to1_topics)
+  bool & bridge_all_1to2_topics, bool & bridge_all_2to1_topics,
+  bool & multi_threads)
 {
   std::vector<std::string> args(argv, argv + argc);
 
@@ -88,6 +90,8 @@ bool parse_command_options(
     ss << "a matching subscriber." << std::endl;
     ss << " --bridge-all-2to1-topics: Bridge all ROS 2 topics to ROS 1, whether or not there is ";
     ss << "a matching subscriber." << std::endl;
+    ss << " --multi-threads: Bridge with multiple threads for spinner of ROS 1 and ROS 2.";
+    ss << std::endl;
     std::cout << ss.str();
     return false;
   }
@@ -119,6 +123,7 @@ bool parse_command_options(
   bool bridge_all_topics = get_flag_option(args, "--bridge-all-topics");
   bridge_all_1to2_topics = bridge_all_topics || get_flag_option(args, "--bridge-all-1to2-topics");
   bridge_all_2to1_topics = bridge_all_topics || get_flag_option(args, "--bridge-all-2to1-topics");
+  multi_threads = get_flag_option(args, "--multi-threads");
 
   return true;
 }
@@ -136,7 +141,8 @@ void update_bridge(
   std::map<std::string, Bridge2to1HandlesAndMessageTypes> & bridges_2to1,
   std::map<std::string, ros1_bridge::ServiceBridge1to2> & service_bridges_1_to_2,
   std::map<std::string, ros1_bridge::ServiceBridge2to1> & service_bridges_2_to_1,
-  bool bridge_all_1to2_topics, bool bridge_all_2to1_topics)
+  bool bridge_all_1to2_topics, bool bridge_all_2to1_topics,
+  bool multi_threads = false)
 {
   std::lock_guard<std::mutex> lock(g_bridge_mutex);
 
@@ -256,7 +262,9 @@ void update_bridge(
       bridge.bridge_handles = ros1_bridge::create_bridge_from_2_to_1(
         ros2_node, ros1_node,
         bridge.ros2_type_name, topic_name, 10,
-        bridge.ros1_type_name, topic_name, 10);
+        bridge.ros1_type_name, topic_name, 10,
+        nullptr,
+        multi_threads);
     } catch (std::runtime_error & e) {
       fprintf(
         stderr,
@@ -318,7 +326,8 @@ void update_bridge(
         "ros1", details.at("package"), details.at("name"));
       if (factory) {
         try {
-          service_bridges_2_to_1[name] = factory->service_bridge_2_to_1(ros1_node, ros2_node, name);
+          service_bridges_2_to_1[name] = factory->service_bridge_2_to_1(
+            ros1_node, ros2_node, name, multi_threads);
           printf("Created 2 to 1 bridge for service %s\n", name.data());
         } catch (std::runtime_error & e) {
           fprintf(stderr, "Failed to created a bridge: %s\n", e.what());
@@ -339,7 +348,8 @@ void update_bridge(
         "ros2", details.at("package"), details.at("name"));
       if (factory) {
         try {
-          service_bridges_1_to_2[name] = factory->service_bridge_1_to_2(ros1_node, ros2_node, name);
+          service_bridges_1_to_2[name] = factory->service_bridge_1_to_2(
+            ros1_node, ros2_node, name, multi_threads);
           printf("Created 1 to 2 bridge for service %s\n", name.data());
         } catch (std::runtime_error & e) {
           fprintf(stderr, "Failed to created a bridge: %s\n", e.what());
@@ -457,8 +467,10 @@ int main(int argc, char * argv[])
   bool output_topic_introspection;
   bool bridge_all_1to2_topics;
   bool bridge_all_2to1_topics;
+  bool multi_threads;
   if (!parse_command_options(
-      argc, argv, output_topic_introspection, bridge_all_1to2_topics, bridge_all_2to1_topics))
+      argc, argv, output_topic_introspection, bridge_all_1to2_topics, bridge_all_2to1_topics,
+      multi_threads))
   {
     return 0;
   }
@@ -471,6 +483,12 @@ int main(int argc, char * argv[])
   // ROS 1 node
   ros::init(argc, argv, "ros_bridge");
   ros::NodeHandle ros1_node;
+  std::unique_ptr<ros::CallbackQueue> ros1_callback_queue = nullptr;
+  if (multi_threads) {
+    ros1_callback_queue = std::make_unique<ros::CallbackQueue>();
+    ros1_node.setCallbackQueue(ros1_callback_queue.get());
+  }
+
 
   // mapping of available topic names to type names
   std::map<std::string, std::string> ros1_publishers;
@@ -494,7 +512,8 @@ int main(int argc, char * argv[])
     &ros1_services, &ros2_services,
     &service_bridges_1_to_2, &service_bridges_2_to_1,
     &output_topic_introspection,
-    &bridge_all_1to2_topics, &bridge_all_2to1_topics
+    &bridge_all_1to2_topics, &bridge_all_2to1_topics,
+    multi_threads
     ](const ros::TimerEvent &) -> void
     {
       // collect all topics names which have at least one publisher or subscriber beside this bridge
@@ -612,7 +631,8 @@ int main(int argc, char * argv[])
         ros1_services, ros2_services,
         bridges_1to2, bridges_2to1,
         service_bridges_1_to_2, service_bridges_2_to_1,
-        bridge_all_1to2_topics, bridge_all_2to1_topics);
+        bridge_all_1to2_topics, bridge_all_2to1_topics,
+        multi_threads);
     };
 
   auto ros1_poll_timer = ros1_node.createTimer(ros::Duration(1.0), ros1_poll);
@@ -631,7 +651,8 @@ int main(int argc, char * argv[])
     &service_bridges_1_to_2, &service_bridges_2_to_1,
     &output_topic_introspection,
     &bridge_all_1to2_topics, &bridge_all_2to1_topics,
-    &already_ignored_topics, &already_ignored_services
+    &already_ignored_topics, &already_ignored_services,
+    multi_threads
     ]() -> void
     {
       auto ros2_topics = ros2_node->get_topic_names_and_types();
@@ -776,22 +797,41 @@ int main(int argc, char * argv[])
         ros1_services, ros2_services,
         bridges_1to2, bridges_2to1,
         service_bridges_1_to_2, service_bridges_2_to_1,
-        bridge_all_1to2_topics, bridge_all_2to1_topics);
+        bridge_all_1to2_topics, bridge_all_2to1_topics,
+        multi_threads);
+    };
+
+  auto check_ros1_flag = [&ros1_node] {
+      if (!ros1_node.ok()) {
+        rclcpp::shutdown();
+      }
     };
 
   auto ros2_poll_timer = ros2_node->create_wall_timer(
-    std::chrono::seconds(1), ros2_poll);
+    std::chrono::seconds(1), [&ros2_poll, &check_ros1_flag] {
+      ros2_poll();
+      check_ros1_flag();
+    });
 
 
   // ROS 1 asynchronous spinner
-  ros::AsyncSpinner async_spinner(1);
-  async_spinner.start();
+  std::unique_ptr<ros::AsyncSpinner> async_spinner = nullptr;
+  if (!multi_threads) {
+    async_spinner = std::make_unique<ros::AsyncSpinner>(1);
+  } else {
+    async_spinner = std::make_unique<ros::AsyncSpinner>(0, ros1_callback_queue.get());
+  }
+  async_spinner->start();
 
   // ROS 2 spinning loop
-  rclcpp::executors::SingleThreadedExecutor executor;
-  while (ros1_node.ok() && rclcpp::ok()) {
-    executor.spin_node_once(ros2_node);
+  std::unique_ptr<rclcpp::Executor> executor = nullptr;
+  if (!multi_threads) {
+    executor = std::make_unique<rclcpp::executors::SingleThreadedExecutor>();
+  } else {
+    executor = std::make_unique<rclcpp::executors::MultiThreadedExecutor>();
   }
+  executor->add_node(ros2_node);
+  executor->spin();
 
   return 0;
 }
diff --git a/test/test_services_across_dynamic_bridge.py.in b/test/test_services_across_dynamic_bridge.py.in
index 757c94a4..5e72257f 100644
--- a/test/test_services_across_dynamic_bridge.py.in
+++ b/test/test_services_across_dynamic_bridge.py.in
@@ -27,6 +27,7 @@ TEST_BRIDGE_ROSCORE = '@TEST_BRIDGE_ROSCORE@'
 TEST_BRIDGE_ROS1_CLIENT = '@TEST_BRIDGE_ROS1_CLIENT@'
 TEST_BRIDGE_ROS1_SERVER = '@TEST_BRIDGE_ROS1_SERVER@'
 TEST_BRIDGE_DYNAMIC_BRIDGE = '@TEST_BRIDGE_DYNAMIC_BRIDGE@'
+TEST_BRIDGE_DYNAMIC_BRIDGE_ARG = '@TEST_BRIDGE_DYNAMIC_BRIDGE_ARG@'
 TEST_BRIDGE_ROS2_CLIENT = '@TEST_BRIDGE_ROS2_CLIENT@'
 TEST_BRIDGE_ROS2_SERVER = '@TEST_BRIDGE_ROS2_SERVER@'
 
@@ -50,7 +51,7 @@ def generate_test_description(test_name, server_cmd, client_cmd):
 
     # dynamic bridge
     rosbridge_process = ExecuteProcess(
-        cmd=[TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_DYNAMIC_BRIDGE],
+        cmd=[TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_DYNAMIC_BRIDGE, TEST_BRIDGE_DYNAMIC_BRIDGE_ARG],
         name=test_name + '__dynamic_bridge',
     )
     launch_description.add_action(rosbridge_process)
diff --git a/test/test_topics_across_dynamic_bridge.py.in b/test/test_topics_across_dynamic_bridge.py.in
index b50691bc..3b103e49 100644
--- a/test/test_topics_across_dynamic_bridge.py.in
+++ b/test/test_topics_across_dynamic_bridge.py.in
@@ -33,6 +33,7 @@ TEST_BRIDGE_ROSCORE = '@TEST_BRIDGE_ROSCORE@'
 TEST_BRIDGE_ROS1_TALKER = ['rosrun', 'roscpp_tutorials', 'talker']
 TEST_BRIDGE_ROS1_LISTENER = ['rosrun', 'rospy_tutorials', 'listener']
 TEST_BRIDGE_DYNAMIC_BRIDGE = '@TEST_BRIDGE_DYNAMIC_BRIDGE@'
+TEST_BRIDGE_DYNAMIC_BRIDGE_ARG = '@TEST_BRIDGE_DYNAMIC_BRIDGE_ARG@'
 TEST_BRIDGE_ROS2_TALKER = get_executable_path(
     package_name='demo_nodes_cpp', executable_name='talker')
 TEST_BRIDGE_ROS2_LISTENER = get_executable_path(
@@ -59,7 +60,7 @@ def generate_test_description(test_name, talker_cmd, listener_cmd, logs_stream):
 
     # dynamic bridge
     rosbridge_process = ExecuteProcess(
-        cmd=[TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_DYNAMIC_BRIDGE],
+        cmd=[TEST_BRIDGE_ROS1_ENV, TEST_BRIDGE_DYNAMIC_BRIDGE, TEST_BRIDGE_DYNAMIC_BRIDGE_ARG],
         name=test_name + '__dynamic_bridge',
     )
     launch_description.add_action(rosbridge_process)