How to communicate an arduino code with ROS? [closed]

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Hi , I want to commicate this arduino code with ROS. How can I do this ? Please help me ?

#include <Wire.h>
#define MD22ADDRESS         0x58
#define SOFTREG             0x07 
#define MOTOR1              0x01 
#define ACCELLREG           0x03  
signed long int  pulse=0;
unsigned long last_time;
int ang=0;
int encoder_a=2;
int encoder_b=3;
float encoder_resolution=1024;
void setup()
{
Wire.begin();
delay(100);  
Serial.begin(115200); 
attachInterrupt(0,encoder_kesme_a,CHANGE); 
last_time=millis();
setMode();
}
void loop()
{
delay(10);
Wire.beginTransmission(MD22ADDRESS);  
Wire.write(MOTOR1);
Wire.write(220);
Wire.endTransmission();
if(millis()-last_time>1000)
{
ang=((pulse/encoder_resolution)*360.0); 
ang=int(ang)%360; 
Serial.println("Dc Motor Angle : " +String(ang));
last_time=millis(); 
 } 
}
void setMode(){
Wire.beginTransmission(MD22ADDRESS);
Wire.write(ACCELLREG);
Wire.write(0xFF);
Wire.endTransmission();
}
void encoder_kesme_a()
{
if (digitalRead(encoder_a) == HIGH) 
{ 
if (digitalRead(encoder_b) == HIGH) 
{
pulse++ ;  
 }
 else
 {
pulse = pulse - 1; 
}
}
else
 {
if (digitalRead(encoder_b) == HIGH) 
{ 
pulse = pulse - 1; 
 } 
else 
 {
pulse++;
}
 } 
}