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rosserial_arduino sets the baud rate to 57600 on the arudino. You'll have to configure your bluetooth shield to run at 57600 on both ends, and use 57600 on rosserial_python.

Alternatively, you can get rosserial_arduino to run at 9600 baud by editing ArduinoHardware.h in <sketchbook>\libraries\ros_lib and changing the baud rate defaults in the constructors. Remember to restart the Arduino IDE after changing libraries.

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