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You might be better off looking at this package to start

http://wiki.ros.org/differential_drive and this related page https://code.google.com/archive/p/knex-ros/wikis/ProjectOverview.wiki

I looked briefly at the web page and I didn't see where the encoders were included. Anyway if you have the encoder input you either do the odometty on the arduino or use rosserial to send the values to your PC and to it there. In either case you will have to use rosserial to send the topics to your computer you are running ROS on.