http://wiki.ros.org/rosserial_arduino
https://www.arduino.cc/en/Guide/Environment
You have 2 options of how to install related libraries.
You can install rosserial for Arduino by running:
sudo apt-get install ros-indigo-rosserial-arduino
sudo apt-get install ros-indigo-rosserial
Replace indigo with the name of the release you’re installing from: e.g. hydro.（注意版本）
Source build instructions are different for groovy+ (catkin) than for earlier (rosbuild) releases. Select the build system based on your release to see appropriate instructions.
catkin(版本):
Rosserial has been catkin-ized since the groovy release, and the workflow is a bit different from fuerte and earlier releases. Rather than running the library generator over each package you want to use, you run it once and generate libraries for all installed messages. In the instructions below, represents your catkin workspace.
cd <ws>/src
git clone https://github.com/ros-drivers/rosserial.git
cd <ws>
catkin_make
catkin_make install
These commands clone rosserial from the github repository, generate the rosserial_msgs needed for communication, and make the library files in the /devel/lib directory.