This library is available from 86Duino Coding 208, and is a dedicated 86Duino porting of rosserial client library to support ROS (Robot Operating System). The following is an official introduction of rosserial:
ROSserial86 integrates both rosserial_arduino and rosserial_embeddedlinux to allow your 86Duino to send and receive standard ROS serialized messages over either the USB device port, a UART or the network socket. With it, your 86Duino becomes a full fledged ROS node that can directly publish and subscribe to ROS topics, advertise and request services, publish TF transforms, and get the ROS system time.
Since the usage of ROSserial86 is compatible to rosserial, one can refer to the rosserial wiki for a basic tutorial.
The text of the 86Duino reference is licensed under a Creative Commons Attribution-ShareAlike 3.0 License. Code samples in the reference are released into the public domain.