ubuntu18.04 ros编译报错Could NOT find serial (missing: serial_DIR)

root@ubuntu:~/wheeltec_mini# catkin_make
Base path: /home/yfm/wheeltec_mini
Source space: /home/yfm/wheeltec_mini/src
Build space: /home/yfm/wheeltec_mini/build
Devel space: /home/yfm/wheeltec_mini/devel
Install space: /home/yfm/wheeltec_mini/install
####
#### Running command: "cmake /home/yfm/wheeltec_mini/src -DCATKIN_DEVEL_PREFIX=/home/yfm/wheeltec_mini/devel -DCMAKE_INSTALL_PREFIX=/home/yfm/wheeltec_mini/install -G Unix Makefiles" in "/home/yfm/wheeltec_mini/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/yfm/wheeltec_mini/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/yfm/wheeltec_mini/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 3 packages in topological order:
-- ~~  - m1_auto_start
-- ~~  - roscar
-- ~~  - fdilink_ahrs
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'm1_auto_start'
-- ==> add_subdirectory(m1_auto_start)
-- +++ processing catkin package: 'roscar'
-- ==> add_subdirectory(roscar)
-- +++ processing catkin package: 'fdilink_ahrs'
-- ==> add_subdirectory(fdilink_ahrs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Could NOT find serial (missing: serial_DIR)
-- Could not find the required component 'serial'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "serial" with any
  of the following names:

    serialConfig.cmake
    serial-config.cmake

  Add the installation prefix of "serial" to CMAKE_PREFIX_PATH or set
  "serial_DIR" to a directory containing one of the above files.  If "serial"
  provides a separate development package or SDK, be sure it has been
  installed.
Call Stack (most recent call first):
  fdilink_ahrs/CMakeLists.txt:9 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/yfm/wheeltec_mini/build/CMakeFiles/CMakeOutput.log".
See also "/home/yfm/wheeltec_mini/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

sudo apt-get install ros-melodic-serial

root@ubuntu:~/wheeltec_mini# sudo apt-get install ros-melodic-serial
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following packages were automatically installed and are no longer required:
  fonts-liberation2 fonts-opensymbol gir1.2-gst-plugins-base-1.0
  gir1.2-gstreamer-1.0 gir1.2-gudev-1.0 gir1.2-udisks-2.0
  grilo-plugins-0.3-base gstreamer1.0-gtk3 libcdr-0.1-1 libclucene-contribs1v5
  libclucene-core1v5 libcmis-0.5-5v5 libcolamd2 libdazzle-1.0-0
  libe-book-0.1-1 libedataserverui-1.2-2 libeot0 libepubgen-0.1-1
  libetonyek-0.1-1 libevent-2.1-6 libexiv2-14 libfreerdp-client2-2
  libfreerdp2-2 libgc1c2 libgee-0.8-2 libgexiv2-2 libgom-1.0-0 libgpgmepp6
  libgpod-common libgpod4 liblangtag-common liblangtag1 liblirc-client0
  liblua5.3-0 libmediaart-2.0-0 libmspub-0.1-1 libodfgen-0.1-1 libqqwing2v5
  librevenge-0.0-0 libsgutils2-2 libssh-4 libsuitesparseconfig5 libvncclient1
  libwinpr2-2 libxapian30 libxmlsec1-nss lp-solve media-player-info
  python3-mako python3-markupsafe syslinux syslinux-common syslinux-legacy
  usb-creator-common
Use 'sudo apt autoremove' to remove them.
The following NEW packages will be installed:
  ros-melodic-serial
0 upgraded, 1 newly installed, 0 to remove and 0 not upgraded.
Need to get 38.5 kB of archives.
After this operation, 144 kB of additional disk space will be used.
Get:1 http://mirrors.ustc.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-serial amd64 1.2.1-0bionic.20200801.023456 [38.5 kB]
Fetched 38.5 kB in 0s (85.5 kB/s)           
Selecting previously unselected package ros-melodic-serial.
(Reading database ... 240775 files and directories currently installed.)
Preparing to unpack .../ros-melodic-serial_1.2.1-0bionic.20200801.023456_amd64.deb ...
Unpacking ros-melodic-serial (1.2.1-0bionic.20200801.023456) ...
Setting up ros-melodic-serial (1.2.1-0bionic.20200801.023456) ...

root@ubuntu:~/wheeltec_mini# catkin_make
Base path: /home/yfm/wheeltec_mini
Source space: /home/yfm/wheeltec_mini/src
Build space: /home/yfm/wheeltec_mini/build
Devel space: /home/yfm/wheeltec_mini/devel
Install space: /home/yfm/wheeltec_mini/install
####
#### Running command: "cmake /home/yfm/wheeltec_mini/src -DCATKIN_DEVEL_PREFIX=/home/yfm/wheeltec_mini/devel -DCMAKE_INSTALL_PREFIX=/home/yfm/wheeltec_mini/install -G Unix Makefiles" in "/home/yfm/wheeltec_mini/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/yfm/wheeltec_mini/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/yfm/wheeltec_mini/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 3 packages in topological order:
-- ~~  - m1_auto_start
-- ~~  - roscar
-- ~~  - fdilink_ahrs
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'm1_auto_start'
-- ==> add_subdirectory(m1_auto_start)
-- +++ processing catkin package: 'roscar'
-- ==> add_subdirectory(roscar)
-- +++ processing catkin package: 'fdilink_ahrs'
-- ==> add_subdirectory(fdilink_ahrs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Configuring done
-- Generating done
-- Build files have been written to: /home/yfm/wheeltec_mini/build
####
#### Running command: "make -j2 -l2" in "/home/yfm/wheeltec_mini/build"
####
Scanning dependencies of target crc_table
Scanning dependencies of target imu_tf
[ 16%] Building CXX object fdilink_ahrs/CMakeFiles/crc_table.dir/src/crc_table.cpp.o
[ 33%] Linking CXX shared library /home/yfm/wheeltec_mini/devel/lib/libcrc_table.so
[ 50%] Building CXX object fdilink_ahrs/CMakeFiles/imu_tf.dir/src/imu_tf.cpp.o
[ 50%] Built target crc_table
Scanning dependencies of target ahrs_driver
[ 66%] Building CXX object fdilink_ahrs/CMakeFiles/ahrs_driver.dir/src/ahrs_driver.cpp.o
[ 83%] Linking CXX executable /home/yfm/wheeltec_mini/devel/lib/fdilink_ahrs/imu_tf
[ 83%] Built target imu_tf
[100%] Linking CXX executable /home/yfm/wheeltec_mini/devel/lib/fdilink_ahrs/ahrs_driver
[100%] Built target ahrs_driver