Example Code on how to use GPIO Interrupt with MicroRos

I'm trying to have micro ros publish sensor information when an ESP32 pin is interrupt.
So far,
1. Micro ros with interrupts, the ESP32 reboots due to panic_abort.
2. Micro ros alone, using timers to read the pin it works fine.
3. Interrupts alone also works fine

How would one go about using micro-ros with interrupts? I've try searching around, but didn't find any sample code. Any guidance is much appreciated.

Review the repository's existing sample code and the ESP32 GPIO interrupt and micro-ROS usage described in the issue. Determine whether a documented example can cover publishing sensor data from an interrupt, and define completion as a working sample or guidance that addresses the reported panic_abort behavior.

Written by the indexing model from the issue text.