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To find a solution for my issue, I decided to switch from the rosserial_python server version to the C++ version of rosserial_server. There I first ran in a new situation, that no connection between my arduino client and the server could be established. The reason was, that rosserial_server sends a hangup signal through the serial line every time it opens the interface, which continuously resets the arduino.The solution is to inhibit the hangup signal with stty -F /dev/ttyACM0 -hupcl. I added this command to <par> {catkin_ws}/src/rosserial/rosserial_server/src/serial_node.cpp

int main(int argc, char* argv[])
{
  ros::init(argc, argv, "rosserial_server_serial_node");

  std::string port;
  int baud;
  ros::param::param<std::string>("~port", port, "/dev/ttyACM0");
  ros::param::param<int>("~baud", baud, 57600);
  system ("stty -F /dev/ttyACM0 -hupcl"); // Added to inhibit hangup signal

  boost::asio::io_service io_service;
  rosserial_server::SerialSession serial_session(io_service, port, baud);
  io_service.run();
  return 0;
}