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You will need to make an adapter that allows you to use rosserial_arduino with the WiFi shield.

As described in rosserial (new hardware support guide)[http://wiki.ros.org/rosserial_client/Tutorials/Adding%20Support%20for%20New%20Hardware], you will need to add a class that provides the interface between your WiFi shield and rosserial_arduino.

(This answer)[http://answers.ros.org/question/198247/how-to-change-the-serial-port-in-the-rosserial-lib-for-the-arduino-side/] provides a more complete example of how to define a new hardware class, but it's using Serial1 instead of Serial on the Arduino Mega, and so it re-uses the existing class instead of defining a completely new interface.

Since it doesn't look like the WiFi library behaves like a serial port, you'll probably need to implement the methods in the Hardware class directly.

It sounds like rosserial_python is expecting to connect to a TCP server, so you should probably use the WiFiServer class as the starting point for your implementation.

You will need to make an adapter that allows you to use rosserial_arduino with the WiFi shield.

As described in rosserial (new new hardware support guide)[http://wiki.ros.org/rosserial_client/Tutorials/Adding%20Support%20for%20New%20Hardware], guide, you will need to add a class that provides the interface between your WiFi shield and rosserial_arduino.

(This answer)[http://answers.ros.org/question/198247/how-to-change-the-serial-port-in-the-rosserial-lib-for-the-arduino-side/] This answer provides a more complete example of how to define a new hardware class, but it's using Serial1 instead of Serial on the Arduino Mega, and so it re-uses the existing class instead of defining a completely new interface.

Since it doesn't look like the WiFi library behaves like a serial port, you'll probably need to implement the methods in the Hardware class directly.

It sounds like rosserial_python is expecting to connect to a TCP server, so you should probably use the WiFiServer class as the starting point for your implementation.

You will need to make an adapter that allows you to use rosserial_arduino with the WiFi shield.

As described in rosserial new hardware support guide, you will need to add a class that provides the interface between your WiFi shield and rosserial_arduino.

This answer provides a more complete example of how to define a new hardware class, but it's using Serial1 instead of Serial on the Arduino Mega, and so it re-uses the existing class instead of defining a completely new interface.

Since it doesn't look like the WiFi library behaves like a serial port, you'll probably need to implement the methods in the Hardware class directly.

It sounds like rosserial_python is expecting to connect to a TCP server, so you should probably use the WiFiServer class as the starting point for your implementation.

class WiFiHardware {

    WiFiHardware() {};

    void init() {
        // do your initialization here. this probably includes TCP server/client setup
    }

    // read a byte from the serial port. -1 = failure
    int read() {
        // implement this method so that it reads a byte from the TCP connection and returns it
        //  you may return -1 is there is an error; for example if the TCP connection is not open
    }

    // write data to the connection to ROS
    void write(uint8_t* data, int length) {
        // implement this so that it takes the arguments and writes or prints them to the TCP connection
    }

    // returns milliseconds since start of program
    unsigned long time() {
         return millis(); // easy; did this one for you
    }

private:
    // declare any class variables that you use here; this probably includes the variable for your TCP client/server object
};