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rosserial is used with mcus that have rosserial code running on them. As you already have a different protocol on your mcu (you describe it as programmed already, I am assuming that it is not running rosserial code) then you will need to implement your own code in the node to translate the messages from the mcu into appropriate messages for ros topics, and subscribe to appropriate topics in ros and convert that data into appropriate messages for your mcu. These will need to be sent over serial, using something like pyserial

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