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Hello. Have you seen the rosserial_arduino package? It lets you talk to ROS from your arduino. There are a bunch of tutorials to get you started. You'll essentially want to take the code you have there and mix it with the blink tutorial which shows you how to subscribe to a message coming from ROS on your computer.

If you haven't done so already, you want to make sure you've done the beginner ROS tutorials to learn how things work with ROS in general before starting the arduino stuff.