Note: Be acutely aware that interrupts have for use judiciously as they might disrupt the serial conversation involving your microcontroller and ROS. Normally make sure your ISRs are as short and efficient as feasible to prevent timing concerns. What's more, inspecting examples will shed mild on prevalent styles and practices, https://desktop-robot84061.win-blog.com/6197232/the-best-side-of-ros-compatible-robot