Note: Be acutely aware that interrupts have to be used judiciously as they might disrupt the serial communication in between your microcontroller and ROS. Usually make sure that your ISRs are as short and economical as you can to stay away from timing challenges. Bricks four Kidz LEGO Robotics Courses https://stemrobot40505.angelinsblog.com/26268838/5-essential-elements-for-desktop-robot