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What are non catkin packages?

Software that does not use the Catkin CMake infrastructure in its build scripts, but plain CMake or even something else.

As to the rest of your questions: these are all strictly OROCOS questions. You haven't tagged your question with orocos, so the OROCOS devs -- if any of them watch this forum -- may not be aware of your question.

I would recommend to follow @jayess' advice and split up your question into four separate ones and tag them appropriately.

Do please make sure that they haven't already been answered. I expect that especially the catkin ones have received quite some attention in the past already.