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I have provided some ROS code that will allow simple text based communication with a microcontroller from ROS. See question "How can ROS communicate with my microcontroller?", tags avr_bridge, microcontroller, serialCom. This suggestion assumes that you have some kind of microcontroller interfaced to the robot hardware (motors/sensors) and that the microcontroller has some serial communication capability. You still have to code a node to convert whatever messages flow back and forth to the microcontroller to typical ROS format messages (cmd_vel, odom) for navigation and other common functions. Hope this helps.
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