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Although it does not use rosserial, I would strongly recommend you take a look at the ROS Arduino Bridge (http://www.ros.org/wiki/ros_arduino_bridge). The nice thing about this package is that it communicates over the serial port without relying on rosserial_arduino. It is very easy to port from Arduino to any Arduino-compatible microcontroller.

I also found rosserial can be very slow... sending one message was taking about 1.8ms according to an oscilloscope. Because of that I could only publish about 30 Hz. Using the bridge approach, I was able to quickly improve that to about 500 Hz.