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My solution was a bit different. I was facing the same issue and the above mentioned delay handling did not resolve it. I was using 115200 baudrate with arduino mega and it was not working. While running rosserial_arduino, I used 57600 baudrate and the "Mismatched protocol version" message was resolved, but still the "checksum" message was present. Then I realised the topic my arduino was supposed to subscribe to was not published yet. I first started the publisher node, then the rosserial with 57600 baud rate. This time there was no error message and it was working fine.