Using Raspberry with ROS and communicate with PIC32

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the rosserial page has examples with different boards

rosserial_arduino - Arduino, especially UNO and Leonardo
rosserial_embeddedlinux - support for Embedded Linux (eg, routers)
rosserial_windows - support for communicating with Windows applications
rosserial_mbed - support for mbed platforms
rosserial_tivac - support for TI's Launchpad boards, TM4C123GXL and TM4C1294XL

developing for other boards is possible, but you would need to implement code to read the protocol on the device yourself.

Arduino code that is compiled for an uno can run on a minimal chip, you do not have to use a board, they even provide instructions https://www.arduino.cc/en/Main/Standa...

You can use the atmega microconteoller alone (without using any of the Arduino libraries) using this example.

If you want to use a PIC32, which AFAIK doesn't have a ROS library yet, you can use something like the serial package from wjwwood on the host and write your own protocol and serial parser on the PIC32.

Here's a simple example of how to use the serial package to communicate with an arduino, but without using the rosserial_arduino library. It should be easy to replicate this on the PIC32.