       digitalWrite(AIN1, LOW);       // sets the digital pin 13 on
       digitalWrite(AIN2, HIGH);  // LOW, LOW -> Freeze, HIGH, HIGH -> Freeze
     }
-  }
+  } // End Serial.available()
 
+
+
+  
+  
   // Waiting for Serial Input
-  Serial.println("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();
+  //nh.spinOnce();
   
 }

  Serial.print("Humidity: ");
  Serial.print(humidity);
  Serial.println("%");

  // ROS stuff
  temp_msg.data = temp_c;
  humid_msg.data = humidity;
  pub_temp.publish(&temp_msg);
  pub_humid.publish(&humid_msg);

  //nh.spinOnce(); Placing this line here prevents it from working

  //delay(2000);

  // send data only when you receive data:
  if (Serial.available() > 0) 
  {

 * Copyright 2009 Jonathan Oxer <jon@oxer.com.au>
 * www.practicalarduino.com
 */

//v3 changelog
// Added subscriber to listen to topics published by RPI (ROS) to control linear actuator

// ROS Setup Stuff
#include <ros.h>
#include <std_msgs/String.h>
#include <std_msgs/Float32.h>
#include <std_msgs/Uint8.h>

#include <SHT1x.h>

