@ncmncm Thx for the comment. Yes ROS 2 is the robot operating system v2 - www.ros.org - which is historically a challenge to interface with uC's, hence the post share. I'm trying to build a cheap platform for people to learn ROS (2) and robotics hence the interest in using cheap (yet capable) uC's like the ESP32.

The example actually does use HW timers to blink the LED from a ROS message.

Let me know if you have other suggestions.