Take note: Be acutely aware that interrupts have for use judiciously as they will disrupt the serial conversation among your microcontroller and ROS. Generally ensure that your ISRs are as brief and successful as feasible to stay away from timing problems. For illustration, if you’re using an Arduino or Teensy https://desktop-robot84051.blogzet.com/the-definitive-guide-to-mobile-robot-41130845