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/usr/share/common-lisp/ros/tf2_msgs/msg/tf2_msgs-msg.asd is in cl-tf2-msgs 0.5.13-5.

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(cl:in-package :asdf)

(defsystem "tf2_msgs-msg"
  :depends-on (:roslisp-msg-protocol :roslisp-utils :actionlib_msgs-msg
               :geometry_msgs-msg
               :std_msgs-msg
)
  :components ((:file "_package")
    (:file "LookupTransformAction" :depends-on ("_package_LookupTransformAction"))
    (:file "_package_LookupTransformAction" :depends-on ("_package"))
    (:file "LookupTransformActionFeedback" :depends-on ("_package_LookupTransformActionFeedback"))
    (:file "_package_LookupTransformActionFeedback" :depends-on ("_package"))
    (:file "LookupTransformActionGoal" :depends-on ("_package_LookupTransformActionGoal"))
    (:file "_package_LookupTransformActionGoal" :depends-on ("_package"))
    (:file "LookupTransformActionResult" :depends-on ("_package_LookupTransformActionResult"))
    (:file "_package_LookupTransformActionResult" :depends-on ("_package"))
    (:file "LookupTransformFeedback" :depends-on ("_package_LookupTransformFeedback"))
    (:file "_package_LookupTransformFeedback" :depends-on ("_package"))
    (:file "LookupTransformGoal" :depends-on ("_package_LookupTransformGoal"))
    (:file "_package_LookupTransformGoal" :depends-on ("_package"))
    (:file "LookupTransformResult" :depends-on ("_package_LookupTransformResult"))
    (:file "_package_LookupTransformResult" :depends-on ("_package"))
    (:file "TF2Error" :depends-on ("_package_TF2Error"))
    (:file "_package_TF2Error" :depends-on ("_package"))
    (:file "TFMessage" :depends-on ("_package_TFMessage"))
    (:file "_package_TFMessage" :depends-on ("_package"))
  ))