I have rosserialarduino working, including custom messages and build and upload with eg. `catkinmake pkgfirmwaretarget-upload` (and releasing the arduino micro reset button at just the right time).

I would like to use the arduino Wire library for i2c, to control a PCA9685 pwm driver but it is causing errors, specifically: error: ‘class TwoWire’ has no member named ‘setClock’

I believe this is because the Wire.h library is too old (ubuntu20.04 apt installed arduino-core 1.0.5, as a dependency of ros-noetic-rosserial-arduino) and is missing this function. (maybe I am wrong, will investigate)

My question is, is there anyway to:

• prevent rosserial_arduino installing the out of date apt version of arduino-core

• get rosserial_arduino to use the up to date (script installed) arduino install (I have it in /opt) and its libraries and board defs.

• still configure, bring in custom message types, build and upload using catkin_make!

There are also board definitions eg. nano with 328p/optiboot bootloader that are missing because the arduino version is so old.

I am not an expert in cmake yet.