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To connect ros with arduino you use this http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup
And for the arduino you may read this https://www.dfrobot.com/blog-585.html
On the arduino you Reead the encoder values, integrate those abs send the value to the ROS. Ros send you motor speed commands and the PID insede the arduino try to achieve the target turn speed.