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Is this the correct way to install teb_local_planner from source on Hydro?

No.

Quickly:

# create a catkin workspace somewhere (if you already have one, skip this)
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src

# get a copy of teb_local_planner
git clone https://github.com/rst-tu-dortmund/teb_local_planner.git

# make sure we have all prerequisites
# NOTE: this step may fail
rosdep install --from-paths . --ignore-src --rosdistro=hydro

# now build
# NOTE: this step may fail
cd ~/catkin_ws
catkin_make

If that is successful (no errors) then it may/should work. Source the setup.bash of the workspace (source ~/catkin_ws/devel/setup.bash) and use teb_local_planner as you would as if it had been installed using apt-get.

Is this the correct way to install teb_local_planner from source on Hydro?

No.

Quickly:

# create a catkin workspace somewhere (if you already have one, skip this)
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src

# get a copy of teb_local_planner
git clone https://github.com/rst-tu-dortmund/teb_local_planner.git

# make sure we have all prerequisites
# NOTE: this step may fail
rosdep install --from-paths . --ignore-src --rosdistro=hydro

# now build
# NOTE: this step may fail
cd ~/catkin_ws
catkin_make

Edit:

ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies:
teb_local_planner: Cannot locate rosdep definition for [costmap_converter]

The problem is that costmap_converter is also not released into Hydro (see wiki/costmap_converter). You'll have to try and see whether you can build that from source on Hydro as well. Just place the package in the same workspace as where you have teb_local_planner. But again: no guarantees that this will work.