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That is fine as it is. The headers don't need to be copied from you package source folder to the devel/include
folder. Just make sure that you export the include folder in your CMake file using:
catkin_package(INCLUDE_DIRS include)
And if you use your own headers add the folder to the include directories using:
include_directories(include)
Then any downstream package will find you package headers when adding the include directories with:
find_package(catkin REQUIRED COMPONENTS your_package)
include_directories(${catkin_INCLUDE_DIRS})