which tutorial to follow to make arduino robot?

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hi, i'm newbie to gazebo. all i want to make is a 1DOF robot and then slowly increasing DOF to 6DOF robot arm. BUT, i want to make it, so that i can get simulation both in realtime, as well as in offline mode. also, i'm using arduino board for actual hardware. which tutorial should i follow? i read somewhere to go like arduino->rosserial_arduino->ros->rviz->rqt->gazebo. is this sequence to learn things right? isnt there direct interface between gazebo and arduino? please help...