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Just install libmodbus (http://libmodbus.org/) to your system (download, extract, ./configure, make, sudo make install). Now you can use its API in your ROS node as in any other program. Further, the following file can be helpful for finding it in your CMakeLists.txt:

https://github.com/cmatei/indi-qhy/blob/master/cmake_modules/FindMODBUS.cmake