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I have this problem when using ROSSerial on stm32. After a lot of debugging I figured out that it was the UART transmit interrupt that was not called after a while running on the STM32. I never figured out why, since the device kept running all the other functionality, but I setup a watchdog timer for 0.5 s that is reset in the UART transmit callback. This is a partial fix as the device now is reset when it stops calling the callback and connection is resumed.

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