   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, 0);
    }
    
  } // End Serial.available()

  // For Debugging
  // Waiting for Serial Input

    //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
    {
