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rosserial_arduino is a package of software that allows you to do all of the code on the Arduino including subscribing and publishing, service calls etc... It is simpler to use and doesn't require any hardware other than an Arduino.

ros_arduino_bridge is a more complex package with support for many sensors. It is optimized for an Arduino Mega based robot with quadrature encoders. If you are making a mobile robot and can afford to buy the listed components, this option may be a better choice. Hope that helps!