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_<ArduinoHardware, 10, 15, 128, 256>
```
Adjusting the values according to your needs.
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