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Run "rosmake", and then "cd build && make upload" to upload it to the arduino. You also have to "rosrun rosserial_python serial_node.py ..." with some arguments for the port the arduino is connected to.
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If you are using the micro:
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In order to make this successfully compile for Leonardo, you will need to copy
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ArduinoHardware.h to cd `rospack find rosserial_arduino`/src/ros_lib, and save
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a backup of the one that is in that folder. The header uses pointers to
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HardwareSerial objects, but for Leonardo it's called Serial_.