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Can you get a plain old bt serial connection between your arduino and your linux machine using a serial port using a program like minicom? I went through several iterations trying to get that to work before I got the rosserial connection to work. There are a lot of steps but I think you may not be getting the SPP profile setup based on your description. I ended using using Blueman instead of the native BT stack when I did this same thing. Also the baud rate has to be at least 57,600.