Micro ROS agent stopping and restarting when driving stepper motor. Dual core

## Issue template

- Hardware description: ESP32 and NEMA 17 driven with A4988 on 1/16th step mode
- Installation type: humble

#### Steps to reproduce the issue
I found that i cannot drive the stepper motor within the main loop where 'RCCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)))' is being spun. Since the steppers are extremely time sensitive, a delay of a few microseconds within the loop driving the steppers can affect the speed. I decided to use the ESP32 second core to handle stepper control and the main core for micro-ros. I have a gamepad connected where the y axis of a joystick on the gamepad is inclination and the x axis is steer_vel (these values only make sense since i am making a 2 wheel balancing robot)

Here is my code that causes the steppers to spin using the joystick for about a few seconds and then the micro-ros-agent restarts again and again.

```
#include

#include
#include
#include
#include
#include

#include

#include

rcl_subscription_t subscriber;
geometry_msgs__msg__Twist msg;
rclc_executor_t executor;
rcl_allocator_t allocator;
rclc_support_t support;
rcl_node_t node;

#define LED_PIN 13

#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}

#include

// Define the number of steps per revolution for your stepper motor
const int step_resolution = 16; // One 16th of a full step. Full step is 1.8 degrees
//const int STEPS_PER_REVOLUTION = 200.0 / step_size;

// Define the pins connected to the A4988 driverS
const int L_STEP_PIN = 33;
const int L_DIR_PIN = 25;
const int R_STEP_PIN = 12;
const int R_DIR_PIN = 13;
const int L_MS1 = 32;
const int L_MS2 = 19;
const int L_MS3 = 18;
const int R_MS1 = 26;
const int R_MS2 = 27;
const int R_MS3 = 14;

AccelStepper L_stepper(1, L_STEP_PIN, L_DIR_PIN); // Define left stepper motor object
AccelStepper R_stepper(1, R_STEP_PIN, R_DIR_PIN); // Define right stepper motor object

TaskHandle_t Core1Task; // Task handle for Core 1

float inclination;
float steer_vel;

void error_loop(){
while(1){
digitalWrite(LED_PIN, !digitalRead(LED_PIN));
delay(100);
}
}

void driveStepper(void *param){
pinMode(L_MS1, OUTPUT);
pinMode(L_MS2, OUTPUT);
pinMode(L_MS3, OUTPUT);
pinMode(R_MS1, OUTPUT);
pinMode(R_MS2, OUTPUT);
pinMode(R_MS3, OUTPUT);

// Set microstep pins to HIGH for 16 microsteps
digitalWrite(L_MS1, HIGH);
digitalWrite(L_MS2, HIGH);
digitalWrite(L_MS3, HIGH);
digitalWrite(R_MS1, HIGH);
digitalWrite(R_MS2, HIGH);
digitalWrite(R_MS3, HIGH);

L_stepper.setMaxSpeed(8000);
L_stepper.setAcceleration(3000);
R_stepper.setMaxSpeed(8000);
R_stepper.setAcceleration(3000);

int count = 0;
int iterations = 1000;
int steps_per_cycle = 200;

while (true){
R_stepper.setSpeed(inclination*steps_per_cycle);
R_stepper.runSpeed();

}
}
//twist message cb
void subscription_callback(const void *msgin) {
const geometry_msgs__msg__Twist * msg = (const geometry_msgs__msg__Twist *)msgin;
// if velocity in x direction is 0 turn off LED, if 1 turn on LED
digitalWrite(LED_PIN, (msg->linear.x == 0) ? LOW : HIGH);
inclination = msg->linear.x;
steer_vel = msg->linear.y;
}

void setup() {

xTaskCreatePinnedToCore(
driveStepper, // Function to implement the task
"Core 1 Task", // Name of the task
10000, // Stack size in words
NULL, // Task input parameter
1, // Priority of the task
&Core1Task, // Task handle
0 // Run task on Core 1
);

set_microros_transports();
pinMode(LED_PIN, OUTPUT);
digitalWrite(LED_PIN, HIGH);

// delay(2000);

allocator = rcl_get_default_allocator();

//create init_options
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

// create node
RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_node", "", &support));

// create subscriber
RCCHECK(rclc_subscription_init_default(
&subscriber,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs, msg, Twist),
"/combined_data"));

// create executor
RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &msg, &subscription_callback, ON_NEW_DATA));

}

void loop() {
// delay(100);
RCCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)));
}
```

#### Expected behavior
The stepper should always spin when the joystick feeds it commands instead of stopping the micro ros- agent and starting again

#### Actual behavior
stepper motor spins for a bit then stops then spins again once micro-ros-agent restablishes connection
#### Additional information

The supplied sketch centers on setup(), driveStepper(), subscription_callback(), and loop(), including rclc_executor_spin_some(); start by tracing the dual-core task and shared command flow while checking the agent's reconnect behavior. Done means identifying why stepping coincides with agent restarts and verifying stable joystick-driven motion without repeated reconnection.

Written by the indexing model from the issue text.