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This answer is based on this solution found here for future users.

The problem is caused by ROS looking for wifi connection over serial.

To solve, change ros.h in the library folder: ~/Arduino/libraries/ros_lib/ros.h

Original:

#if defined(ESP8266) or defined(ESP32) or defined(ROSSERIAL_ARDUINO_TCP)
  #include "ArduinoTcpHardware.h"
#else
  #include "ArduinoHardware.h"
#endif

Modified:

#if defined(ROSSERIAL_ARDUINO_TCP)
  #include "ArduinoTcpHardware.h"
#else
  #include "ArduinoHardware.h"
#endif

Also it's suggested to check baud rate.

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