required dependencies:
    boost
    github.com/wjwwood/serial

optional dependencies:
    bear
    google test
    scan-build
    valgrind

dependency installation (debian testing):
    $ sudo aptitude install build-essential libboost-all-dev catkin     # required
    $ sudo aptitude install bear clang googletest valgrind              # optional
    $ pushd "$(mktemp -d)"
    $ git clone https://github.com/wjwwood/serial.git
    $ cd serial
    $ make install      # installs to /tmp/usr/local, copy from there
    $ popd
    $ sudo cp -r /tmp/usr/local/include/serial /usr/local/include
    $ sudo cp /tmp/usr/local/lib/libserial.so /usr/local/lib
    $ sudo usermod -a -G dialout $(whoami)      # to access /dev/ttyUSB*, requires logout to take effect