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Thank you all for the reply, after following sloretz@em and mig I'm getting another error

 CMake Error at /opt/ros/jade/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
  Could not find a package configuration file provided by "costmap_2d" with
  any of the following names:

    costmap_2dConfig.cmake
    costmap_2d-config.cmake

  Add the installation prefix of "costmap_2d" to CMAKE_PREFIX_PATH or set
  "costmap_2d_DIR" to a directory containing one of the above files.  If
  "costmap_2d" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  relaxed_astar/CMakeLists.txt:8 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/denso/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/denso/catkin_ws/build/CMakeFiles/CMakeError.log".
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed