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You're probably best off using the serialization and deserialization from rosserial, even if you don't use the rest of it.
You probably just need msg.h ( https://github.com/ros-drivers/rosserial/blob/jade-devel/rosserial_client/src/ros_lib/ros/msg.h ) and the generated message classes from make_libraries.py . If you have a small set of messages you probably don't need to use the full rosserial build system; you can just generate messages once and then check in the resulting headers and use them.
Pulling in the full serialization libraries from roscpp probably isn't a good idea. I think they depend on boost (which is going to be difficult to get on arduino) and they use 64-bit floating point, which isn't supported on arduino/AVR ( as noted in the rosserial msg.h above). There are probably other dependencies in there as well that will be difficult to make work on an AVR.
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