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From my experience, you should probably use the rosserial package that you referenced, rather than relying on this 3rd party firmware for the STM32 (as an aside your link seems to be broken).
There are plenty of examples online for how to set up UART communication to the STM32, so you would need to build your firmware for this side of the application. On the STM side, try setting up something like this. You'd need to figure out which pins map to the PCB ethernet component attached to your stm.
On the ROS side, things are a lot easier if you just use the python interface on your linux machine. This will handle sending messages to/from the embedded device, so you only have to interface with your embedded device via ROS messages.
The multiple machines package you linked is for linux computer to another linux computer and therefore isn't what you are looking for.
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