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Here's a workaround which allows you to use the rosserial_arduino debs unmodified:

• In your package, add a file called hack/WProgram.h, with these contents:

#include "Arduino.h"

• In CMakelists.txt, somewhere before the final macro call, add:

include_directories(hack ${ARDUINO_SDK_PATH}/hardware/arduino/variants/standard)

This should let you compile the package with cmake, and should be a forward-friendly fix for once rosserial is updated.