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Please see this Answer for a full serial interface to ros controllers on Arduino

https://answers.ros.org/question/263501/hardware-interface-for-arduino/

The firwmare code and the controller is available at:

https://github.com/DeborggraeveR/ampru/tree/master/ampru_base

The author use topics at beguin. If you want to use topics maybe it usefull to check old commits.