After setting up the Arduino, we will go to File | Preferences for configuring the sketchbook folder of Arduino (for example, /home/<user>/Arduino).
You may have noticed a folder called libraries inside the Arduino folder. There, we have to generate ros_lib using a script called make_libraries.py, which is present inside the rosserial_arduino package. The following commands show how to generate ros_lib for Arduino:
$ cd ~/Arduino/libraries/ $ rosrun rosserial_arduino make_libraries.py
The make_libraries.py script will generate a wrapper of the ROS topic and service messages, which are optimized for Arduino data ...