I’ve taken a HC-SR04 like shown below and connected it to the CubieTruck as a rosserial publisher.

Instead a of a simple std_msgs::String str_msg;  I’ve implemented a sensor_msgs::Range range_msg; which after starting the arduino in ros with rosrun rosserial_python serial_node.py /dev/ttyACM0  shows up in rostopic echo /ultrasound like this:

---
header: 
  seq: 136
  stamp: 
    secs: 1400706588
    nsecs: 709593997
  frame_id: ultrasound
radiation_type: 0
field_of_view: 0.10000000149
min_range: 0.0
max_range: 4.0
range: 1.18762886524
---

So with that, its possible to visualize everything using rqt_plot:

which is pretty nice for my first arduino micro ros project and less than an two hours of work 🙂

For further information see here