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Try setting the Arduino publisher to "latch." Then the PID node should hear the most recently-published setpoint when it subscribes. (Hopefully the Arduino API allows latching...)

Maybe I should add a line to wait for the first message in the PID node.

Try setting the Arduino publisher to "latch." Then the PID node should hear the most recently-published setpoint when it subscribes. (Hopefully the Arduino API allows latching...)

Maybe I should add a line to Edit: the latest commit will wait for the first message in the PID node.you. bitbucket.org/pid