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Yes @fvd i managed to integrate my robotic arm with moveit and ros control

the condensed version is that i use the i2c servo driver (connected with the arduino due - rosserial) the ground of the arduino must be connected with the ground of the dc-dc converter powering the servo driver In the arduino i used a simple callback that just takes appropiate commands and send thems to the servos with i2c.

I also wrote and a simple hardware interface that assumes perfect execution (no feedback on the servos) this means that in the read and write functions i dont do much simply whatever command comes from the joint_command_interface i write it on the joint_state_interface.

This has the effect that the robot-rviz thinks the arm is moving even if you have no robotic arm attached.

Then i made a simple node that subscribes to joint_states transform the joint_States to the appropiate servo commands and sends them to arduino for execution. (The arm is a clone of the joint_states)

you can see the code on my graduation project the open mobile manipulator project

P.S the hardware interface is on the branch to-jetson P.S the tranform is at lynxbot_bringup/src/pub to arduino

https://github.com/panagelak/Open_Mobile_Manipulator.git

cheers !!