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The error goes away if I don't do the publishing from inside the ISR, but instead from inside loop(). I then just creating an "allow_publish" variable which gets set to true in the ISR, then use this to control when to publish in loop(). I'm getting a publish rate of 49.97 Hz using rostopic hz so it seemed to be working okay.

The error goes away if I don't do the publishing from inside the ISR, but instead from inside loop(). I then just creating an "allow_publish" variable which gets set to true in the ISR, then use this to control when to publish in loop(). Not sure if this is the best way to approach it, but I'm getting a publish rate of 49.97 Hz using rostopic hz so it seemed to be working okay.

The error goes away if I don't do the publishing from inside the ISR, but instead from inside loop(). I then just creating an "allow_publish" variable which gets set to true in the ISR, then use this to control when to publish in loop(). Not sure if this is the best way to approach it, but I'm getting a publish rate of 49.97 Hz using rostopic hz so it seemed seems to be working okay.

The error goes away if I don't do the publishing from inside the ISR, but instead from inside loop(). I then just creating create an "allow_publish" variable which gets set to true in the ISR, then and use this to control when to publish in loop(). Not sure if this is the best way to approach it, but I'm getting a publish rate of 49.97 Hz using rostopic hz so it seems to be working okay.