Note: Be mindful that interrupts have for use judiciously as they are able to disrupt the serial communication involving your microcontroller and ROS. Generally be sure that your ISRs are as short and effective as is possible in order to avoid timing problems. Bricks four Kidz LEGO Robotics Courses stop https://robot-arm30617.kylieblog.com/26983447/5-essential-elements-for-desktop-robot