In my set-up, ros_control (
http://wiki.ros.org/ros_control) on RPi receives join position / velocity commands. Then RPi relays updates/state requests to Arduino over a serial link. When commands are received, Arduino uses Pololu API to set/get parameters on Mini Maestro servo controller. Same thing for VNH5019 motor driver.
ros_control and controller packages are pretty good.
For now, I abandoned the use of rosserial and use a custom protocol and serial I/O between RPi and Arduino. Actually, I just wrote a blog post about it, if interested take a look at blog.boltrobotics.com.
Cheeres
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