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ROSARIA is specific to Pioneer and other robots from MobileRobots/ActivMedia and the communications protocol is in many ways Pioneer-specific. If you want to use a similar design (robot controller on Arduino communicating with ROS nodes on a PC) it might be easier to use your own, smaller protocol.

Other people who know more about Arduino can give some advice about that, but if you search this site you may find people doing similar projects, or you may find existing code on wiki.ros.org that could serve as an example.