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avr_bridge by Adam Stambler of Rutgers University avr_bridge is meant to simplify the use of an Arduino and avr processors in a ROS based robot by providing a partial ROS implementation in avr c++. In hobbyist robotics, these microcontrollers are often used to read sensors and perform low level motor control. Every time a robot needs to interface with an AVR board, a new communication system is written. Typically they all use a usb-to-serial converter and either a custom binary or text based protocol. AVR bridge replaces these custom protocols with an automatically generated ROS communication stack that allows the AVR processors to directly publish or subscribe to ROS topics. for tutorials and more information, see www.ros.org/wiki/avr_bridge Funding for this software was provided as a part of a research a grant (R01ES014717) from the National Institute of Environmental Health Sciences.