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I think the major steps are as follows

  1. Subscribes to a topic that can now be referenced in serialnode.py.
  2. Process the subscribed data for visualization.
  3. Publish the processed data.

The following tutorials may also be of help.

https://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29 https://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28python%29