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You cannot depend on "voxel_grid". In groovy, this is not a catkin package, but a rosbuild pacakge. You cannot depend on a rosbuild package from a catkin package. This is likely why rosdep is not happy. Maybe the other errors are a consequence.

Is there a good reason why you must use groovy and not hydro? It seems like you are trying to do things that are better supported on hydro.

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