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The current state of rosserial does not support PROGMEM usage. However, I implemented a rosserial version that supports PROGMEM usage. You can check it out from my fork of the rosserial repo on github:

https://github.com/strothmw/rosserial

For usage see this example:

https://github.com/strothmw/rosserial/blob/indigo-devel/rosserial_arduino/src/ros_lib/examples/HelloWorldFlash/HelloWorldFlash.pde

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