I would like to announce a new stack for controlling an Arduino-based robot with ROS. The official documentation can be found at:
The stack includes a base controller for a differential drive robot as well as support for reading sensors and controlling PWM servos. The code does *not* depend on rosserial.
The packages have been tested against the ROS navigation stack (Electric) using a Pololu motor controller and Robogaia encoder shield.
This stack comes out of a discussion amongst members of the Home Brew Robotics Club (HBRC) for extending ROS support to hobby-level robots using inexpensive and easily obtained hardware. The code was inspired by Michael Ferguson's ArbotiX drivers and borrows heavily from it. (Thanks Fergs!)