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From what I know they are several ways to actuate your real hardware.

First is using the hardware controller of gazebo, so you will have to set it and interface it with your arduino http://gazebosim.org/tutorials/?tut=ros_control This link shows you roughly how it works,

An other is to avoid to dive in such a complex implementation, as you said you work with an open loop. You can get the successive joint angles to set from a topic JointTrajectoryController (I am not sure of the topic's name) and send those joint angles to you arduino.

From what I know they are several ways to actuate your real hardware.

First is using the hardware controller of gazebo, so you will have to set it do the whole setup and interface it with your arduino http://gazebosim.org/tutorials/?tut=ros_control This link shows you roughly how it works,

An other is to avoid to dive in such a complex implementation, as implementation. As you said you work with an open loop. You can get the successive joint angles to set from a topic JointTrajectoryController (I am not sure of the topic's name) and send those joint angles to you arduino.