diff --git a/class_model/src/utils/protoJson_mqtt_pub_data_to_ros.py b/class_model/src/utils/protoJson_mqtt_pub_data_to_ros.py
index 35c08bc..13bea22 100644
--- a/class_model/src/utils/protoJson_mqtt_pub_data_to_ros.py
+++ b/class_model/src/utils/protoJson_mqtt_pub_data_to_ros.py
@@ -4,6 +4,7 @@ import time
 import proto.flight_information_pb2 as flight_information_pb2
 import proto.flyformatioln_pb2 as flyformatioln_pb2
 import google.protobuf.json_format as json_format
+import threading
 
 class Proto_msg_to_ros:
     #Protobuf
@@ -50,15 +51,29 @@ class Json_msg_to_ros:
 
     @classmethod
     def Drone550_on_message_Flight_Information(cls, client, userdata, msg):
-        cls.Drone550_publisher_Flight_Information.publish(msg.payload.decode("UTF-8"))
-        cls.rate.sleep()
+        # define a function for handling the data from mqtt
+        def thread_function():
+            cls.Drone550_publisher_Flight_Information.publish(msg.payload.decode("UTF-8"))
+            cls.rate.sleep()
+        
+        # create a new thread to process the data
+        t = threading.Thread(target=thread_function)
+        t.start()
 
     @classmethod
     def Drone380_on_message_Flight_Information(cls, client, userdata, msg):
-        cls.Drone380_publisher_Flight_Information.publish(msg.payload.decode("UTF-8"))
-        cls.rate.sleep()
+        def thread_function():
+            cls.Drone380_publisher_Flight_Information.publish(msg.payload.decode("UTF-8"))
+            cls.rate.sleep()
+        
+        t = threading.Thread(target=thread_function)
+        t.start()
     
     @classmethod
     def Drone650_on_message_Flight_Information(cls, client, userdata, msg):
-        cls.Drone650_publisher_Flight_Information.publish(msg.payload.decode("UTF-8"))
-        cls.rate.sleep()
+        def thread_function():
+            cls.Drone650_publisher_Flight_Information.publish(msg.payload.decode("UTF-8"))
+            cls.rate.sleep()
+
+        t = threading.Thread(target=thread_function)
+        t.start()