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I think you have two possible directions:

1) Use your own serial protocol. If you're doing this, I would suggest starting on the ROS-side with the TurtleBot code, which uses a serial port to control an iRobot Create. The ROS part is found here, and the serial interface can be found here. Incidentally, these are both written in Python.

2) Compile rosserial for your microcontroller, and have your microcontroller (I'm presuming it's a Propeller chip) participate directly on your ROS network. That may be a pain - I don't know how difficult convincing rosserial to compile for that chip will be.