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I have experienced that re-creating ros_lib solved the corresponding error.

I suggest that you do rosrun rosserial_arduino make_libraries.py . with ROS running on RP4 and recreate ros_lib.

I have experienced that re-creating ros_lib solved the corresponding error.

I suggest that you do rosrun rosserial_arduino make_libraries.py . with ROS running on RP4 and recreate ros_lib.

Update:

Thank you for trying my suggestion. I read the source code.

  while(motor_right_input_A_count < 101){
    continue;
  }

The above is an infinite loop and it looks like it is not publishing.

void motor_right_interruptCounter()
{
  motor_right_input_A_count++;
}

is not running in parallel with motor_right_measureRPM. ( The same is left side. )