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unfortunately i go the same problem, when running catkin_make on this pkg. I am on indigo, 64bit ubuntu and installed libpointmatcher and libnabo from source.

The rosdep command looks as follows: rosdep install ethzasl_icp_mapping

and results in: #All required rosdeps installed successfully

when i make: rosmake ethzasl_icp_mapping

it delievers following output:

[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['ethzasl_icp_mapping']
[ rosmake ] Logging to directory /home/kl/.ros/rosmake/rosmake_output-20150806-172611
[ rosmake ] Expanded args ['ethzasl_icp_mapping'] to: []
[ rosmake ] WARNING: The stack "libnabo" was not found. We will assume it is using the new buildsystem and try to continue...
[ rosmake ] WARNING: The stack "libpointmatcher" was not found. We will assume it is using the new buildsystem and try to continue...
[ rosmake ] WARNING: The stack "catkin" was not found. We will assume it is using the new buildsystem and try to continue...
[ rosmake ] Results:
[ rosmake ] Built 0 packages with 0 failures.
[ rosmake ] Summary output to directory

Hope someone can help me out!

thank in advance