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Fortunately, I got in touch with François Pomerleau (maintainer of ethzasl_icp_mapping repo). Got very useful information from him. All packages were recently catkinized for easy migration reasons. There are two branches with this code - "catkinized" and "indigo-devel". Both of them are missing libnabo and libpointmatcher packages. For the missing libpointmacher / libnabo packages, they were catkinized too and are now fetch directly as dependency from: https://github.com/ethz-asl/libpointmatcher-release https://github.com/ethz-asl/libnabo-release
He also mentioned that icp_mapping package is very stable until fuerte, and he has received many e-mails regarding hydro package giving issues with boost library. So the problem that you are facing yet need to be solved.
One more very important thing I discovered while making icp_mapping work in indigo was that libpointmatcher library is not compatible with 32 bit computers, and only works well with 64 bit systems. François said that libpointmatcher and libnabo are very stable and encouraged to use those libraries if we are interested in creating our own mapping package.
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