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BFL is a third party library, and is best installed via the debian package that is released. In order to get all dependencies installed before starting to build your workspace, you can use rosdep. In the top-level folder of your workspace (that is, the folder with src, devel, build folders), you can run:

rosdep install --from-paths src --ignore-src --rosdistro indigo -y

This will use rosdep to determine what to install to meet the dependencies of all the source packages that are to be built in your workspace.

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