code: def add_handler(self, uavcan_type, handler, **kwargs):
          
          return self._handler_dispatcher.add_handler(uavcan_type, handler, **kwargs)
docs: Adds a handler for the specified data type.
          :param uavcan_type: DSDL data type. Only transfers of this type will be accepted for this handler.
          :param handler:     The handler. This must be either a callable or a class.
          :param **kwargs:    Extra arguments for the handler.
          :return: A remover object that can be used to unregister the handler as follows:
              x = node.add_handler(...)
              # Remove the handler like this:
              x.remove()
              # Or like this:
              if x.try_remove():
                  print('The handler has been removed successfully')
              else:
                  print('There is no such handler')