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Hello, are you running rosaria on the Arduino? Or is it running on a computer, and you want to control it from the Arduino?

/RosAria/cmd_vel is a "topic" provided by the RosAria node. Messages published to this topic set velocities at which to request the robot to move. It's a way to send velocity commands to the robot. See the following for more details:

http://wiki.ros.org/ROSARIA#ROS_API

http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html

http://wiki.ros.org/ROSARIA/Tutorials/How%20to%20use%20ROSARIA

http://wiki.ros.org/ROSARIA/Tutorials/How%20to%20use%20ROSARIA#Topics_and_Commands