Fix:

In file included from /usr/include/boost/serialization/split_member.hpp:23:0,
                 from /usr/include/boost/serialization/nvp.hpp:29,
                 from …/pinocchio/build/include/pinocchio/serialization/fwd.hpp:9,
                 from …/pinocchio/build/include/pinocchio/multibody/joint/joint-composite.hpp:14,
                 from …/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:9,
                 from …/pinocchio/build/include/pinocchio/multibody/model.hpp:17,
                 from …/pinocchio/build/include/pinocchio/bindings/python/multibody/model.hpp:11,
                 from …/pinocchio/bindings/python/multibody/expose-model.cpp:6:
/usr/include/boost/serialization/access.hpp: In instantiation of 'static void boost::serialization::access::serialize(Archive&, T&, unsigned int) [with Archive = boost::archive::xml_oarchive; T = __gnu_cxx::__normal_iterator<const int*, std::vector<int> >]':
/usr/include/boost/serialization/serialization.hpp:69:22:   required from 'void boost::serialization::serialize(Archive&, T&, unsigned int) [with Archive = boost::archive::xml_oarchive; T = __gnu_cxx::__normal_iterator<const int*, std::vector<int> >]'
/usr/include/boost/serialization/serialization.hpp:128:18:   required from 'void boost::serialization::serialize_adl(Archive&, T&, unsigned int) [with Archive = boost::archive::xml_oarchive; T = __gnu_cxx::__normal_iterator<const int*, std::vector<int> >]'
/usr/include/boost/archive/detail/oserializer.hpp:148:40:   required from 'void boost::archive::detail::oserializer<Archive, T>::save_object_data(boost::archive::detail::basic_oarchive&, const void*) const [with Archive = boost::archive::xml_oarchive; T = __gnu_cxx::__normal_iterator<const int*, std::vector<int> >]'
/usr/include/boost/archive/detail/oserializer.hpp:101:1:   required from 'class boost::archive::detail::oserializer<boost::archive::xml_oarchive, __gnu_cxx::__normal_iterator<const int*, std::vector<int> > >'
/usr/include/boost/archive/detail/oserializer.hpp:253:13:   required from 'static void boost::archive::detail::save_non_pointer_type<Archive>::save_standard::invoke(Archive&, const T&) [with T = __gnu_cxx::__normal_iterator<const int*, std::vector<int> >; Archive = boost::archive::xml_oarchive]'
/usr/include/boost/archive/detail/oserializer.hpp:308:22:   [ skipping 34 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
…/pinocchio/build/include/pinocchio/bindings/python/serialization/serializable.hpp:41:26:   required from 'void pinocchio::python::SerializableVisitor<Derived>::visit(PyClass&) const [with PyClass = boost::python::class_<pinocchio::ModelTpl<double>, boost::python::detail::not_specified, boost::python::detail::not_specified, boost::python::detail::not_specified>; Derived = pinocchio::ModelTpl<double>]'
/usr/include/boost/python/def_visitor.hpp:31:9:   required from 'static void boost::python::def_visitor_access::visit(const V&, classT&) [with V = boost::python::def_visitor<pinocchio::python::SerializableVisitor<pinocchio::ModelTpl<double> > >; classT = boost::python::class_<pinocchio::ModelTpl<double>, boost::python::detail::not_specified, boost::python::detail::not_specified, boost::python::detail::not_specified>]'
/usr/include/boost/python/def_visitor.hpp:67:34:   required from 'void boost::python::def_visitor<DerivedVisitor>::visit(classT&) const [with classT = boost::python::class_<pinocchio::ModelTpl<double>, boost::python::detail::not_specified, boost::python::detail::not_specified, boost::python::detail::not_specified>; DerivedVisitor = pinocchio::python::SerializableVisitor<pinocchio::ModelTpl<double> >]'
/usr/include/boost/python/class.hpp:226:9:   required from 'boost::python::class_<T, X1, X2, X3>::self& boost::python::class_<T, X1, X2, X3>::def(const boost::python::def_visitor<Derived>&) [with Derived = pinocchio::python::SerializableVisitor<pinocchio::ModelTpl<double> >; W = pinocchio::ModelTpl<double>; X1 = boost::python::detail::not_specified; X2 = boost::python::detail::not_specified; X3 = boost::python::detail::not_specified; boost::python::class_<T, X1, X2, X3>::self = boost::python::class_<pinocchio::ModelTpl<double>, boost::python::detail::not_specified, boost::python::detail::not_specified, boost::python::detail::not_specified>]'
…/pinocchio/build/include/pinocchio/bindings/python/multibody/model.hpp:293:9:   required from 'static void pinocchio::python::ModelPythonVisitor<Model>::expose() [with Model = pinocchio::ModelTpl<double>]'
…/pinocchio/bindings/python/multibody/expose-model.cpp:15:34:   required from here
/usr/include/boost/serialization/access.hpp:118:9: error: 'class __gnu_cxx::__normal_iterator<const int*, std::vector<int> >' has no member named 'serialize'
         t.serialize(ar, file_version);
         ^