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The file cannot be copied because your install space is /usr/local only users with roo permissions can copy in that directory.

The problem here is that catkin_make is trying to install your package to /usr/local instead of Install space: /home/allen/catkin_ws/install.

Can you try the following commands in a new terminal and comment here with the outcome?:
1) Open a new terminal (Ctrl+Alt+T)
2) cd /home/allen/catkin_ws
3) rm -rf build devel install
4) source /opt/ros/kinetic/setup.bash
5) catkin_make install

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