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Hello! I came here looking for the same answer.

The problem is that the ros_lib/ros/msg.h file that ROS puts in the Arduino directory uses <cstring>, the C++ version of <string.h>. Arduino does not recognise that for some reason.

After changing <cstring> to <string.h> and changing all occurances of std::memcpy to just memcpy everything compiled.

That change will disappear next time I update ros_lib, of course, so I'm still keen to know what the right thing to do is.