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Installing pyserial: ImportError: No module named serial

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I am trying to install pyserial module on Pololu 3pi+ 2040 robot. Is there any guide from where I can install this? I tried installing using pip (but it got installed in my local machine, but not on the robot). Is there any way to install it on the robot? Also I am unable to get access to the OS of the robot on the terminal on my local machine, I can get access to a python interface through thonny.

The guide here says to install pyserial on the robot, but does not guide about how to go about installing it on the robot.

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