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If binary version is not released, you can always ask on the development repository of the package for the release. For pr2_mechanism_msgs a request is already made by someone. You can add your comment with reasonable motivation etc., which often helps the maintainers to move on to making a release.

Meanwhile you can download the source code and built by yourself, which you've already started. pr2_mechanism_msgs is found https://github.com/PR2/pr2_mechanism_msgs

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