imu and pid controller using rosserial
It is just a general question. I'm new to this so from what I understand so far, we can only make one node for one arduino. So it is either a listener or talker. So I'm wondering if it is possible to write a pid controller code which uses data from an IMU, and use the controller in some functions(a function that makes robot move forward, a function that makes the robot spin, etc) and have arduino listen to a command, and it chooses which function to use based on that command?