I want to talk about and external sensor driver (IMU) that makes sensor modules to hang the system. Symptoms; The external IMU is lunched first and is higher priority. When unloading the driver the system hangs. I have traced the problem to un_advertise the sensor_gyro message. When unadvertised, the sensor module gives the GYRO fail message and attempts to failover, however immediately it also sends an ACCEL 1 fail and an GYRO 1 fail (this is incorrect since the internal drivers are still there) and using a counter I noticed that the main loop in sensor modules start spinning much faster, posibly preempting other tasks. if I remove the unadvertise gyro from my code, the drivers unloads without any problem and sensor module keeps working normally. Question: in sensors module, the timestamp for the secondary/tertiary gyro gets updated too, or what can be the reason for TIMEOUT on the sensors that are still working?