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I recently wrote a python ROS node for Roboclaw that runs on Indigo. I'm cleaning it up for release but it didn't take too long to get a basic driver working with pyserial. My biggest issue has been read errors that sometimes need to trigger a reset of the port connection. You'll want to subscribe to a /cmd_vel topic with geometry_msgs/Twist message type to handle your linear and angular velocity commands, if that's suitable with your use case. I read encoder values and publish them on /odom for odometry.

Service calls would make sense if you want to change change PID parameters, voltage cutouts, etc.