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I am explaing what i did and this worked for me.

Follow the procedures given in the tutorial Arduino IDE setup http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup upto the point where you gitclone it from gitclone repository.Then instead of catkin_make type in the following command catkin_make -DCATKIN_WHITELIST_PACKAGES=rosserial followed by catkin_make install-DCATKIN_WHITELIST_PACKAGES=rosserial.Now go to your workspace/src/rosserial where you will find 11 packages including rosserial.Now repeat the last two commands that you typed in for all of these packages like catkin_make -DCATKIN_WHITELIST_PACKAGES=rosserial_arduino and catkin_make install-DCATKIN_WHITELIST_PACKAGES=rosserial_arduino so on till catkin_make install-DCATKIN_WHITELIST_PACKAGES=rosserial_xbee.Now follow the tutorial from the point where you go to arduino sketchbook cd <sketchbook>/librariestill the end.