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ros::NodeHandle  nh;

Servo servo;

void servo_cb( const std_msgs::UInt16& cmd_msg){
  servo.write(cmd_msg.data); //set servo angle, should be from 0-180  
  digitalWrite(13, HIGH-digitalRead(13));  //toggle led  
}


ros::Subscriber<std_msgs::UInt16> sub("servo", servo_cb);

void setup(){
  pinMode(13, OUTPUT);

  nh.initNode();
  nh.subscribe(sub);

  servo.attach(8); //attach it to pin 8
}

void loop(){
  nh.spinOnce();
  delay(1);
}

this is a typical rosserial subscriber function, based on this model, you can publish your physical control to the same topic with the adequate message type.