All of the Arduino code (and libraries)
To install rosserial:
Follow the instructions here. DO NOT USE sudo apt-get install rosserial stuff if you're running groovy... Follow the instructions for installing from source into the src directory of the catkin workspace
http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup
Make sure you install the CORRECT (groovy) arduino libraries into the sketchbook libraries folder. I have setup the arduino sketchbook directory to be here
Open the arduino preferences file and change the location of the sketchbook to the correct directories sketchbook (/ArduinoCode/sketchbook)
Currently can't get motor driver code on Uno to work with rosserial. I think this has to do with the whole one serial port thing. We'll need to retest when we get our Mega in.