How can i connect my robotic arm into ROS and do the motion planning in Move It.

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Hello Everyone..!

I am Working on Controlling my 6 DOF Robotic-Arm with ROS. For this i created the workspace, created the URDF and Launch file of the Arm and all of this is working perfectly.

Now i want to connect / Hardware interface my Robotic-arm with ROS (I connect my robotic arm's controller with Arduino via With RX of Hi wonder board to the TX of the Arduino and vice versa..)

But now i am wondering what should i do to move further? How can i control my arm in ROS? Can anyone help me in this problem?? Or how can i do motion planning in move it? Can anyone guide from where i can get help to control / connect my arm with ROS?

PS: My Robotic arm has a 6 Servos and using serial bus communication method to communicate.