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After some refactoring of AT-LOCATION, cram_plan_library now needs the most recent development version of cl_tf. You need to check out the stack roslisp_common using svn from the following url: https://code.ros.org/svn/ros-pkg/stacks/roslisp_common/trunk

For instance, you can use the following rosinstall file:

-svn:
    local-name: roslisp_common
    uri: 'https://code.ros.org/svn/ros-pkg/stacks/roslisp_common/trunk'