Note: Be aware that interrupts have for use judiciously as they will disrupt the serial interaction concerning your microcontroller and ROS. Normally make sure that your ISRs are as brief and efficient as you possibly can to avoid timing challenges. By way of example, in case you’re using an Arduino https://education-robot20517.pointblog.net/helping-the-others-realize-the-advantages-of-agilex-67537872