Note: Be mindful that interrupts have to be used judiciously as they can disrupt the serial conversation among your microcontroller and ROS. Always make sure that your ISRs are as short and successful as you can to prevent timing problems. The Makeblock Ultimate, the Makeblock mBot, and the Elegoo Intelligent https://holdenemsxd.buyoutblog.com/26574642/detailed-notes-on-mobile-robot