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It looks like you don't have the python serial module installed; did you install the dependencies for rosserial when you built it?

You can install all of the dependencies for rosserial with rosdep (this should install python-serial):

cd <ws>
rosdep install --from-paths src -i

That should install python-serial, and any other dependencies. If it doesn't, you can install the python serial module by hand with:

sudo apt-get install python-serial