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Look into the rosseriallink text package. It works great with arduino for motor control using the polulo gear motors and encoders.
The pi-robotlink text is another place to look for answers for using ros with arduino.

Look into the rosseriallink text package. It works great with arduino for motor control using the polulo gear motors and encoders.
The pi-robotlink textpi_robot is another place to look for answers for using ros with arduino.