Observe: Be mindful that interrupts have to be used judiciously as they're able to disrupt the serial communication involving your microcontroller and ROS. Generally make sure your ISRs are as short and successful as is possible to stop timing concerns. The EP Main supports the Scratch and Python programming languages. https://ros-compatible-robot62738.dailyhitblog.com/31930248/how-much-you-need-to-expect-you-ll-pay-for-a-good-miros