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Hello,
The issue you have encountered is because you have used an Arduino Leonardo that has a native USB port, which is different that on the Arduino UNO, MEGA...
That's why you have to enable the USE_USBCON flag. But it is normal it is not the default.
Maybe, you can edit the tutorials to make it clear that the specific Leonardo model needs this flag to be defined.
The tutorials are hosted on a community Wiki so, feel free to create an account and edit them: http://wiki.ros.org/rosserial
If you want to change the error message, you can send a pull-request on the Github repository: https://github.com/ros-drivers/rosserial
But note that even if the message is not clear enough, it only state that there is a communication problem. In fact, your Arduino was not send anything on the serial port.
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