Hello @RoboDaniel Usually, it is not the code by itself that take too much space but the serial buffers. You should look at [this wiki page](http://wiki.ros.org/rosserial_arduino/Tutorials/NodeHandle%20and%20ArduinoHardware) and reduce the size of the buffers as explained in the section **3.2 ros.h**. You need to modify the `NodeHandle_` template parameters with something like: ```C++ NodeHandle_ ``` Adjusting the values according to your needs. --- [Visit Topic](https://discourse.ros.org/t/compress-ros-h-interacting-without-ros-h/5838/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: