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In this Robot Operating System (ROS) tutorial, we explain how to establish an interface between ROS and Arduino and how to run a ROS node on Arduino. We use the Rosserial Arduino Library to establish this communication. We explain how to install Rosserial Arduino Library in Arduino, and how to fix the error with cstring header file. Then, we explain how to write a ROS node in Arduino that will publish a string. Then, on a Linux computer, we establish the communication, read the messages, and print them on the screen.