 /**********************************************************/
 
 byte pipe[][6] = {"1Node","2Node","3Node","4Node"}; 
-int receive_msg[1]; //pipe number
+int msg_from_robot[2]; //pipe number
+int msg_from_ROS[2];
 
 void setup() {
   Serial.begin(250000);

}

void send_data_to_ROS() {
  Serial.println(receive_msg[0]); //Serial.write() may be a better choice for this
  Serial.println(receive_msg[1]); //Serial.write() may be a better choice for this
}

String input_string;
int string_length = 0;

bool receive_data_from_ROS() {
  if(Serial.available()){
    input_string = "";
    while (Serial.available()) {         
      char in_char = (char)Serial.read(); //taken from the SerialEvent example
      input_string += in_char;
    }
    if (input_string.length() == string_length)
      return true;
  }
  return false;
}

void send_data_to_robot() {
  if(radio.available()){
    while (radio.available()) {         
      radio.read(&receive_msg, sizeof(receive_msg));       
    }
    return true;
  }
  return false;  
}

void loop() {

bool receive_data_from_robot() {
  if(radio.available()){
    while (radio.available()) {         
      radio.read(&msg_from_robot, sizeof(msg_from_robot));       
    }
    return true;
  }
