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I had the same problem and solved it like this

cmake_minimum_required(VERSION 2.8.3)
project(rc_read)

find_package(catkin REQUIRED COMPONENTS
  rosserial_arduino
  rosserial_client
  relative_nav_msgs
)

catkin_package()

rosserial_generate_ros_lib(
 PACKAGE rosserial_arduino
 SCRIPT make_libraries.py
)

add_dependencies(rc_read_ros_lib 
    relative_nav_msgs_generate_messages_cpp
    relative_nav_msgs_generate_messages
    relative_nav_msgs_generate_messages_py
    relative_nav_msgs_generate_messages_lisp
)

rosserial_configure_client(
  DIRECTORY firmware
  TOOLCHAIN_FILE ${ROSSERIAL_ARDUINO_TOOLCHAIN}
)

rosserial_add_client_target(firmware rc_read ALL)
rosserial_add_client_target(firmware rc_read-upload)