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Using ${prefix} should work. It is substituted by the absolute path to your package. Example:

<rosjava-pathelement location="${prefix}/lib/pc/pccomm.jar"/>

Using ${prefix} should work. It is substituted by the absolute path to your package. Example:

<rosjava-pathelement location="${prefix}/lib/pc/pccomm.jar"/>

location="${prefix}/lib/pc/pccomm.jar" />