Could not find Arduino SDK

[ahar]

I am trying to use rosserial_arduino to control two DC motors. I installed Arduino SDK at first and then installed arduino_cmake and roserial_arduino. Then after when I tried to implement the servo control steps using this, I got following errors.

CMake Error at /home/anindya/catkin_test_6/src/rosserial/rosserial_arduino/arduino-cmake/cmake/ArduinoToolchain.cmake:81 (message):
  Could not find Arduino SDK (set ARDUINO_SDK_PATH)!
Call Stack (most recent call first):
  /usr/local/share/cmake-3.10/Modules/CMakeDetermineSystem.cmake:94 (include)
  CMakeLists.txt


CMake Error: CMake was unable to find a build program corresponding to "Unix Makefiles".  CMAKE_MAKE_PROGRAM is not set.  You probably need to select a different build tool.
-- Configuring incomplete, errors occurred!
helloworld/CMakeFiles/helloworld_firmware.dir/build.make:57: recipe for target 'helloworld/CMakeFiles/helloworld_firmware' failed
make[2]: *** [helloworld/CMakeFiles/helloworld_firmware] Error 1
CMakeFiles/Makefile2:8586: recipe for target 'helloworld/CMakeFiles/helloworld_firmware.dir/all' failed
make[1]: *** [helloworld/CMakeFiles/helloworld_firmware.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 87%] Built target bag_to_pcd
[ 89%] Built target pcl_ros_io
[ 90%] Built target pcl_ros_segmentation
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

Can anybody let me know the source of this error?
I could not fix it yet. BDW, I use ubuntu 16.04 xenial xerus.

thanks,