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/usr/lib/pkgconfig/octomap.pc is in liboctomap-dev 1.8.1+dfsg-1.

This file is owned by root:root, with mode 0o644.

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prefix=/usr
libdir=${prefix}/lib
includedir=${prefix}/include

Name: octomap
Description: octomap
Requires: 
Version: 1.8.1
Libs: -L${libdir}  -loctomap -loctomath
Cflags: -I${includedir}