When dealing with rosserial on Arduino, you'll be able to publish and subscribe to ROS subjects, making it possible for sensor information to move in the Arduino in to the ROS ecosystem and commands from ROS to reach the actuators managed with the Arduino. Keep in mind, productive interaction is https://eduardoxhsch.iyublog.com/26313025/5-tips-about-ros-compatible-robot-you-can-use-today