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the ROS message "Lost sync with device, restarting..." because of socket read in blocked mode take a look in file esp-idf/components/rosserial_esp32/ros_lib/tcp_client.c function unsigned char _conn_ros(void) has call fcntl(sock,F_SETFL,O_NONBLOCK); it's set the socket async mode and look at file esp-idf/components/rosserial_esp32/ros_lib/ESP32Hardware.h that has functions: int read() void write(uint8_t* data, int len) used async mode

try it