required dependencies:
boost
github.com/wjwwood/serial
optional dependencies:
bear
google test
scan-build
valgrind
dependency installation (debian testing):
$ sudo aptitude install build-essential libboost-all-dev catkin # required
$ sudo aptitude install bear clang googletest valgrind # optional
$ pushd "$(mktemp -d)"
$ git clone https://github.com/wjwwood/serial.git
$ cd serial
$ make install # installs to /tmp/usr/local, copy from there
$ popd
$ sudo cp -r /tmp/usr/local/include/serial /usr/local/include
$ sudo cp /tmp/usr/local/lib/libserial.so /usr/local/lib
$ sudo usermod -a -G dialout $(whoami) # to access /dev/ttyUSB*, requires logout to take effect