diff --git a/stretch_core/stretch_core/stretch_driver.py b/stretch_core/stretch_core/stretch_driver.py
index afaa6c2e..2b557f65 100755
--- a/stretch_core/stretch_core/stretch_driver.py
+++ b/stretch_core/stretch_core/stretch_driver.py
@@ -991,7 +991,7 @@ def ros_setup(self):
 def main():
     try:
         rclpy.init()
-        executor = MultiThreadedExecutor(num_threads=2)
+        executor = MultiThreadedExecutor(num_threads=5)
         node = StretchDriver()
         node.joint_trajectory_action = JointTrajectoryAction(node, node.action_server_rate)
         executor.add_node(node)