The easier way is adding the Blogdrake repository. It includes all the needed packages and will automatically resolve the dependences:
Open a terminal, type "su" to become root, and copy/paste the following lines:
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urpmi.addmedia --wget --update --nopubkey BDK-Free-i586 ftp://ftp.blogdrake.net/mageia/mageia2/free/i586
urpmi.addmedia --wget --update --nopubkey BDK-Free-noarch ftp://ftp.blogdrake.net/mageia/mageia2/free/noarch
urpmi.addmedia --wget --update --nopubkey BDK-NonFree-i586 ftp://ftp.blogdrake.net/mageia/mageia2/non-free/i586
Then you can install the arduino packet. The last version available is 1.0.1 but te 0.22 is available in case of you have some software with problems with 1.0 versions.
Also, you can install only the rxtx-nolock packet. It is the lastest version of rxtx compiled with --disable-lock to avoid writing to /var/lock (which requires special permissions that usually java programs does not have because you cant setuid/setgid a java program)