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I encountered this issue after installing ros serial library from the arduino IDE. It was fixed by installing ros_lib instead from: http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup

You will also need to delete the library that you installed from the arduino IDE.

Another issue could be your version of genpy. In that case simply run the following:

$ sudo apt-get install ros-<distro>-genpy

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