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Following up on my research on this it seems there isn't currently a best practice however these are the most common solutions:

1. ROS1 to ROS2 bridge and use ros-serial/ros-arduino
2. Use one of the soloutions listed on this page

ros2arduino seems like the best fit however it isn't currently listed as running with Foxy. I'm going to go with option 1 for now, I have existing code that runs on ROS1 that I can use for communicating with an Arduino.

Following up on my research on this it seems there isn't currently a best practice however these are the most common solutions:solutions, micro-ros support for Teensy has recently been added but early in development at the minute:

1. ROS1 to ROS2 bridge and use ros-serial/ros-arduino
2. Use one of the soloutions listed on this page
3. Use an Open CR or Teensy and this library.

ros2arduino seems like the best fit however it isn't currently listed as running with Foxy. I'm going to go with option 1 for now, I have existing code that runs on ROS1 that I can use for communicating with an Arduino.