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Not sure why you don't want to use Arduino - perhaps because you think that the only kind of Arduino you can get is the physical formfactor about 2" x 3" and you need something different. Here's different answer.

Dale Wheats breadboard arduino

It's a tutorial on how to make a bare AVR chip be an Arduino (not in the physical sense, with shields, but in the programmatic sense). Then rosserial_arduino will just work. I use it all the time - it works great.