Below’s a skeleton code example for an interrupt service regime (ISR) inside your ROS job with a rosserial_client setup: For illustration, should you’re applying an Arduino or Teensy to regulate a servo by means of ROSSerial, you may perhaps put in place an interrupt to react to an external function, https://mobilerobot72839.blogolenta.com/23395855/the-smart-trick-of-robot-arm-that-no-one-is-discussing