can i keep teleop ,getting encoder data and publishing tf data in single arduino code ?

edit

hello everyone,

I have arduino mega in which i wrote a program for controlling motor ,teleop and publishing tf and subscribing odom data , while doing slam gmapping my tf_frame shows map > odom (broadcaster is serial_node) and I don't get any output in rostopic echo /Odom is this because I haven't rosrun Odom through node ??

I have differential drive and I'm trying to do gmapping ?

here is code

#include <ros.h>
#include <ros/time.h>
#include <tf/tf.h>
#include <tf/transform_broadcaster.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
int dir1leftWheel = 22;
int dir2leftWheel = 24;
int vel_leftWheel = 10; 

int dir1rightWheel = 26;
int dir2rightWheel = 28;
int vel_rightWheel = 9; 

int right_pwm, left_pwm,left_pwmf,right_pwmf;
float slope=120/1;

ros::NodeHandle  nh;

geometry_msgs::TransformStamped t;
tf::TransformBroadcaster broadcaster;
void msg(const geometry_msgs::Twist& cmd){
  float vel_right = (cmd.angular.z*51)/2 + cmd.linear.x;
  float vel_left = cmd.linear.x*2-vel_right;
  left_pwm=vel_left*slope;
  right_pwm=vel_right*slope;
  analogWrite(vel_leftWheel, left_pwm);
    digitalWrite(dir1leftWheel, HIGH);
    digitalWrite(dir2leftWheel, LOW);
    analogWrite(vel_rightWheel, right_pwm);
    digitalWrite(dir1rightWheel, HIGH);
    digitalWrite(dir2rightWheel, LOW);
}

double x = 0.0;                         // Initial X position
double y = 0.0;                         // Initial Y position
double theta = 0.00;                    // Initial Theta angle

char base_link[] = "/base_link";
char odom[] = "/odom";
ros::Subscriber<geometry_msgs::Twist> sub("/cmd_vel", &msg);

volatile signed int counterL = 0;       // This variable will increase or decrease depending on the rotation of encoder
volatile signed int counterR = 0;       // This variable will increase or decrease depending on the rotation of encoder
volatile int dcountL = 0;               // diff in encoder reading for left wheel
volatile int dcountR = 0;               // diff in encoder reading for left wheel
float pi=3.14;                          // Pi=3.14
float R=0.115;                          // Wheel Radius 
unsigned int tick=400;                  // Encoder total tick
float len=0.60;                         // Distance between two wheels


void setup()
{
  nh.initNode();                        // Initializing node handler
  broadcaster.init(nh);                 // odom data broadcaster init
    nh.subscribe(sub);
  pinMode(2, INPUT);
  pinMode(4, INPUT);
  digitalWrite(2, HIGH);                // Left encoder input
  digitalWrite(4, HIGH);
  attachInterrupt(0, ai0, RISING); 

  pinMode(3, INPUT);
  pinMode(5, INPUT);                    // Right encoder input
  digitalWrite(3, HIGH); 
  digitalWrite(5, HIGH); 
  attachInterrupt(1, ai1, RISING);
  pinMode(dir1leftWheel, OUTPUT);
  pinMode(dir2leftWheel, OUTPUT);
  pinMode(vel_leftWheel, OUTPUT);
  pinMode(dir1rightWheel, OUTPUT);
  pinMode(dir2rightWheel, OUTPUT);
  pinMode(vel_rightWheel, OUTPUT);

}

void loop()
{ 
  dcountL=counterL-dcountL;
  dcountR=counterR-dcountR;

  signed int templ=counterL; 
  signed int tempR=counterR;

  float dL=0.72*(dcountL/(float)tick);  // Dl = 2*PI*R*(lefttick/totaltick)
  float dR=0.72*(dcountR/(float)tick);  // Dr = 2*PI*R*(righttick/totaltick)
  float dC=(dL+dR)/2;

   x = x+(dC*(cos(theta)));             // calculates new X position based on wheel revolution
   y = y+(dC*(sin(theta)));             // calculates new Y position based on wheel revolution
   theta = theta +((dR-dL)/len);        // calculates new theta angle based on encoder values
  if(theta > 3.14)
    theta=-3.14;

  // tf odom->base_link
  t.header.frame_id = odom;             // odom data publishes on Odom topic
  t.child_frame_id = base_link;         

  t.transform.translation.x = x;
  t.transform.translation.y = y;
  // converting from euler angle to quaternion form
  t.transform.rotation = tf::createQuaternionFromYaw(theta);
  t.header.stamp = nh.now ...