     incomingByte = Serial.read();
 
     // say what you got:
-    Serial.print("I received: ");
-    Serial.println(incomingByte, DEC);
+    //Serial.print("I received: ");
+    //Serial.println(incomingByte, DEC);
 
     // 1
     if (incomingByte == 49)// Move down

      digitalWrite(AIN1, LOW);       // sets the digital pin 13 on
      digitalWrite(AIN2, HIGH);  // LOW, LOW -> Freeze, HIGH, HIGH -> Freeze
    }
  }

  // Waiting for Serial Input
  Serial.println("Waiting for Serial Input");
  //analogWrite(PWMA, 128); // Use servo, analogWrite and servo both work
  //myservo.write(179);   
  // put your main code here, to run repeatedly:

  nh.spinOnce();
  
}

SHT1x sht1x(dataPin, clockPin);

ros::NodeHandle nh;
 
std_msgs::Float32 temp_msg;  // To publish temp information
std_msgs::Float32 humid_msg; // To publish humidity information
std_msgs::Float32 linear_actuator_cmd_echo_msg; // To publish humidity information

std_msgs::Float32 actuator_msg; // To actuator motor

ros::Publisher pub_temp("temperature", &temp_msg);
ros::Publisher pub_humid("humidity", &humid_msg);
ros::Publisher pub_linear_command_echo("Linear_Actuator_Command_Echo", &linear_actuator_cmd_echo_msg);

// For linear actuator
int incomingByte = 0;   // for incoming serial data

// Create the callback function for the subscriber
void actuatorCb(const std_msgs::Float32& cmd_msg)
{
  actuator_msg.data = cmd_msg.data;
  linear_actuator_cmd_echo_msg.data = cmd_msg.data;
}

// Create the subscriber before void setup
ros::Subscriber<std_msgs::Float32> sub("linear_actuator_cmd", &actuatorCb );

void setup()
{

   // Initialize ROS node
   nh.initNode();
   nh.advertise(pub_temp);
   nh.advertise(pub_humid);
   nh.advertise(pub_linear_command_echo);
   nh.subscribe(sub); // Need to subscribe to subscription in void setup
   
   //Serial.begin(57600); // Open serial connection to report values to host
   //Serial.println("Starting up");

   // Setup code for linear actuator
   // put your setup code here, to run once:
