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the pi has 4 usb ports so you connect those arduinos with usb cable . then starts 4 rosserial instances and you are a happy guy.

if you like to use i2c you have to programm a ros node witch handles the i2c to arduino communication and publisch the desired data to ros topics.

but an arduino side then there is no more ros specific code but only a i2c slave and you applicatioon code.

the rossrial way is the more generic, if you use this way.

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