 
 void setup()
 {
-
    // Initialize ROS node
    nh.initNode();
    nh.advertise(pub_temp);

  humid_msg.data = humidity;
  pub_temp.publish(&temp_msg);
  pub_humid.publish(&humid_msg);
  pub_linear_command_echo.publish(&linear_actuator_cmd_echo_msg);

  //Serial.println(linear_actuator_cmd);
  // For ROS
  // 1

    {
      analogWrite(PWMA, 0);
    }

    // If Serial Testing used...Earlier intermediate testing code
    // Reset incoming Byte to 0 at end of receiving the message
    incomingByte = 0;
  } // End Serial.available()
  
  //if (incomingByte != 48) or (incomingByte != 49)
  //{
  //  analogWrite(PWMA, 0);
  //}

  // For Debugging
  // Waiting for Serial Input
