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Two solutions
Microcontroler running roserial subscribe to the /joint_states and drive the servos
Solution one Sample code for one servo: 1) https://answers.ros.org/question/269960/servo-control-arduino/ 2) https://answers.ros.org/question/248053/resolved-arduino-subscribe-to-joint_states/
There also another possible solution Build a node to subscribe to topic /joint_states, and convert all joints to degrees and publish them array with an entry for each servor, to a topic subscribed by the microcontroller with rosserial.
Sample code for microcontroller that require the node above https://answers.ros.org/question/279501/arduino-code-for-custom-robot-arm/
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