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As there were no answers to my questions, i went forward with using a custom serial protocol over publish/subscribe topics to communicate between the hardware interface node and Arduino.

The protocol is based on HDLC and seems to work fine :) Code pushed to git repository.

As there were no answers to my questions, i went forward with using a custom serial protocol over instead of publish/subscribe topics to communicate between the hardware interface node and Arduino.

The protocol is based on HDLC and seems to work fine :) Code pushed to git repository.