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I have faced similar issues recently.Try removing libserial using apt, then install the current library using the instructions

Remove with apt using

sudo apt remove libserial-dev

Now install libserial using the following steps (with sudo permissions)

        mkdir serial_dir
        cd serial_dir/ && git clone https://github.com/crayzeewulf/libserial.git
        cd serial_dir && cd libserial && ./compile.sh
        cd serial_dir && cd libserial && cd build && make install

Now you should be able to find libserial under /usr/local/include

In the CMakelist.txt

target_link_libraries(executableName
  ${catkin_LIBRARIES} serial
)

In package.xml

  <depend>libserial-dev</depend>

Now,try building the package and it should work..!!