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How can a PIC18F4550 communicate with ROS?

Hello, I am using a PIC18F4550 microcontroller for controlling a stepper motor and a regular dc motor through their drivers (H-bridges). I was wondering if anyone knows a simple way to make ROS communicate with the microcontroller. I know that one way to do this is to buy an arduino chip and follow the tutorials on this website. Then write a simple code to make the arduino chip communicate with the PIC microcontroller. Unfortunately, due to budget limit and lack of time this is not possible. I would be really greatfull if anyone could help me soon.

Thanks in advance.