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Before you do a release, you'll need to add install rules to your CMakeLists.txt. These specify all of the things that will end up in your deb. Messages and services are installed by default, you'll have to write installation rules for everything else such as launch files, executables, libraries, headers, plugin XML files, URDFs, and other resources.

The catkin common tasks howto does a good job of describing most of the common cases.