   humid_msg.data = humidity;
   pub_temp.publish(&temp_msg);
   pub_humid.publish(&humid_msg);
-  pub_linear_command_echo.publish(&linear_actuator_cmd_echo_msg);
-
+  pub_linear_command_echo.publish(&linear_actuator_cmd_echo_msg); // Topic to ensure linear_actuator_cmd msg is received
+  
   //Serial.println(linear_actuator_cmd);
   // For ROS
   // 1

    analogWrite(PWMA, 64);
    digitalWrite(AIN1, HIGH);       // sets the digital pin 13 on
    digitalWrite(AIN2, LOW);        // sets the digital pin 13 off

  }

  // 0
  else if (linear_actuator_cmd == 10) // Stop
  {
    analogWrite(PWMA, 0);
  }

  // 2
  else if (linear_actuator_cmd == 12) // Move up
  {
    analogWrite(PWMA, 64);
    digitalWrite(AIN1, LOW);       // sets the digital pin 13 on
    digitalWrite(AIN2, HIGH);  // LOW, LOW -> Freeze, HIGH, HIGH -> Freeze
  }

  // Test 
  //nh.loginfo("Linear Actuator Cmd: %d", linear_actuator_cmd);

    //Serial.print("I received: ");
    //Serial.println(incomingByte, DEC);

    // The code in here is to test the logic when using Serial monitor to send the inputs into the ProMini
    // Instead of using a ROS topic
    // 1
    if (incomingByte == 49)// Move down
    {
