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Finaly, I've got how do this. There is topic: /joint_states it gives radians of position of each knee of manipulator. I've transformed this data to servo steps in ros node and then sent them to arduino using UInt8MultiArray! And it works! After all arduino subscriber looks like this:

void servo_cb( const std_msgs::UInt8MultiArray& cmd_msg){
    for(short i = 0; i<=4; i++)
        myservo[i].write(cmd_msg.data[i]);
}