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Just to build on William's answer— creating a rosserial port for your device is very straightforward. The entirety of the Arduino port is contained in the following files:
https://github.com/ros-drivers/rosserial/blob/hydro-devel/rosserial_arduino/src/ros_lib/ros.h
https://github.com/ros-drivers/rosserial/blob/hydro-devel/rosserial_arduino/src/ros_lib/ArduinoHardware.h
All you really need to do is wire up a few functions which tell the rosserial client library how to read and write the serial port. Arduino is definitely not the only supported option, it's just a really common platform, and thus well-suited to being the demonstration.
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