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This looks like a mismatch between your version of ROS and the version of rosserial that you're using.

The queue_size option was added to rospy in ROS Hydro, and it seems like you're running an earlier version of ROS.

You should check out the branch of rosserial for the version of ROS that you're using; for example if you're using ROS Groovy, you should check out the groovy-devel branch of rosserial.