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