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Hi,
in order to use this package outside of ROS, I started transition towards a plain CMake-Package. Usually this works fine, as Catkin can handle CMake-Packages seemlessly, at least with ROS1. I assume it should work with ROS2 in a similar fashion, but needs testing. I few changes will also be required for dependent packages, I only did it for hdl_localization so far. I changed the package-name to "pclomp", because that is what was used in the headers.
Please let me know if you are generally interested in following up with this approach.