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rosserial is not included in any desktop variant. You need to install it in addition to the default system, and the recommended way is to install one of the supported platforms (at this time that includes arduino and embedded_linux):

 sudo apt-get install ros-hydro-rosserial-arduino

In addition, the xbee package is not included with any of these, so:

sudo apt-get install ros-hydro-rosserial-xbee

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