text: //////////////                    No main:
  
  void loop() 
  {
      static unsigned long prev_connect_test_time;
      // check if the agent got disconnected at 10Hz
      if(millis() - prev_connect_test_time >= 100)
      {
          prev_connect_test_time = millis();
          // check if the agent is connected
          if(RMW_RET_OK == rmw_uros_ping_agent(10, 2))
          {
              // reconnect if agent got disconnected or haven't at all
              if (!micro_ros_init_successful) 
              {
                  createEntities();
              } 
          } 
          else if(micro_ros_init_successful)
          {
              // stop the robot when the agent got disconnected
              fullStop();
              // clean up micro-ROS components
              destroyEntities();
          }
      }
      
      if(micro_ros_init_successful)
      {
          rclc_executor_spin_some(&executor, RCL_MS_TO_NS(10));
      }
  }
  ///-----------------------------------------------------
  