I've recently been working on a new ROS package for the uArm metal that I think is just about ready to be useful.
It takes an alternate approach to the original package created by Joey Song (https://github.com/uArm-Developer/UArmForROS), that I feel is more ROS-like (makes more use of topics).
You can find the repo and here: https://github.com/aransena/uarm_metal and a discussion over on my blog here: http://www.aransena.com/blog/2016/9/13/uarm-controller
I'll be putting up a few posts over the next while to detail the approach taken, along with a few other things I've been working on.
Hopefully this is useful to some of you, let me know any issues you find and suggestions that you think of.