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I think you got the spirit. By now the best way to use the navigation stack (which need lot of computacional resources) is by runing it on a computer and just passing command to the robot_base (which is commanded by the arduino).

So you should run rosserial on the arduino and make it subscribe the cmd_vel messages, also if you have wheel encoders or other type of sensor you could plug it on arduino and publish its info to ros.

You should check http://wiki.ros.org/rosserial_arduino/Tutorials.