 {
   uint32_t sec, nsec;
 
-  /*
-   * the interpolation floors the current time
-   * stamp for integrity of precision.
-   */
   sec  = _micros / 1000000 + t.sec;
   nsec = _micros % 1000000 + 1000 * (t.nsec / 1000);
   if (nsec >= 1e9) {

    publishImuMsg();
    tTime[3] = t;
  }

  // Check push button pressed for simple test drive
  checkPushButtonState();

  sensor_state_msg.battery = checkVoltage();

  battery_state_msg.voltage = sensor_state_msg.battery;
  battery_state_pub.publish(&battery_state_msg);

  dxl_comm_result = motor_driver.readEncoder(sensor_state_msg.left_encoder, sensor_state_msg.right_encoder);

  if (dxl_comm_result == true)
  {
    sensor_state_pub.publish(&sensor_state_msg);
  }
  else
  {
