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I had the same issue. This worked out for me.

We need a simplified header file for custom messages in Arduino sketches. The usual header files in devel have boost dependencies. We can generate a simplified header file by running the following:

rosrun rosserial_arduino make_library.py path_to_libraries your_message_package

The resources I used: ROS wiki and Ch 7. in Mastering ROS for Robotics Programming

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