[ros-users] [Discourse.ros.org] [Embedded] Compress ros.h / Interacting without ros.h

Romain Reignier ros.discourse at gmail.com
Tue Sep 4 12:39:09 UTC 2018

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:

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

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