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I have a very similar setup on my robot: an Arduino Mega 2560 running rosserial and doing odometry, motor control and a few other things.
Since the tf and Odometry messages contain mostly redundant data, I publish a simplified message without covariance data, and then reconstruct the tf and full Odometry messages on the computer.
My node for receiving simplified odometry messages and transforming them is here: https://github.com/trainman419/Senior-Project/tree/interrupts/ros/dagny_odom and my message package is here: https://github.com/trainman419/Senior-Project/tree/interrupts/ros/dagny_msgs
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