OpenRB-150 Softeware Serial Support

How to use software serial on OpenRB-150? I am trying to make OpenRB-150 communicate with PC through ESP8266-01, which works well with the Arduino UNO. I tried to include the software serial library, but it seems to be lack of some dependencies.

Yes, using Serial Communications on OpenRB-150 does require some more setup, you can read more details in the free Amazon Kindle sample of my Arduino book which is available here:

https://www.amazon.com/Using-ARDUINO-ROBOTIS-Systems-Ngoc-ebook/dp/B0BPXGQ6YX/

See Chapter 2, Sections 2.3 and 2.4.