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You can follow along with this tutorial: http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup

You can follow along with this tutorial: ~~http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup~~http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup. Make sure to install your sketch into the <sketchbook>/libraries folder using

ros rosserial_arduino make_libraries.py <sketchbook>/libraries/

where <sketchbook> is the path to your sketchbook.

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