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I had a similar topic when publishing anything but std_msgs from rosserial_arduino. Specifically, I am publishing sensor_msgs/JointState messages. For me adding nh.negotiateTopics after all nh.advertise and nh.subscribe calls did the trick:

# subscribe and advertise topics
nh.subscribe(position_sub);
nh.advertise(joint_pub);
# give serial_node.py a chance to get to know the topics
nh.negotiateTopics();