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diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/NavGridInfo.h b/src/Libraries/nav_2d_msgs/include/robot_nav_2d_msgs/NavGridInfo.h
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rename from src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/NavGridOfDoubles.h
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diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Path2D.h b/src/Libraries/nav_2d_msgs/include/robot_nav_2d_msgs/Path2D.h
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rename from src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Path2D.h
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diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Point2D.h b/src/Libraries/nav_2d_msgs/include/robot_nav_2d_msgs/Point2D.h
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diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2D.h b/src/Libraries/nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2D.h
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rename from src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2D.h
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rename from src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2DCollection.h
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diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2DStamped.h b/src/Libraries/nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2DStamped.h
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rename from src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2DStamped.h
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diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Pose2D32.h b/src/Libraries/nav_2d_msgs/include/robot_nav_2d_msgs/Pose2D32.h
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rename from src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Pose2D32.h
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diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Pose2DStamped.h b/src/Libraries/nav_2d_msgs/include/robot_nav_2d_msgs/Pose2DStamped.h
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rename from src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Pose2DStamped.h
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diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/SwitchPlugin.h b/src/Libraries/nav_2d_msgs/include/robot_nav_2d_msgs/SwitchPlugin.h
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rename from src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/SwitchPlugin.h
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rename from src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/SwitchPluginRequest.h
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diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/SwitchPluginResponse.h b/src/Libraries/nav_2d_msgs/include/robot_nav_2d_msgs/SwitchPluginResponse.h
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rename from src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/SwitchPluginResponse.h
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diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Twist2D.h b/src/Libraries/nav_2d_msgs/include/robot_nav_2d_msgs/Twist2D.h
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rename from src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Twist2D.h
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diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Twist2D32.h b/src/Libraries/nav_2d_msgs/include/robot_nav_2d_msgs/Twist2D32.h
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rename from src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Twist2D32.h
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diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Twist2DStamped.h b/src/Libraries/nav_2d_msgs/include/robot_nav_2d_msgs/Twist2DStamped.h
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rename from src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Twist2DStamped.h
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diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/UIntBounds.h b/src/Libraries/nav_2d_msgs/include/robot_nav_2d_msgs/UIntBounds.h
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rename from src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/UIntBounds.h
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diff --git a/src/Libraries/robot_nav_2d_msgs/package.xml b/src/Libraries/nav_2d_msgs/package.xml
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rename from src/Libraries/robot_nav_2d_msgs/package.xml
rename to src/Libraries/nav_2d_msgs/package.xml
diff --git a/src/Libraries/robot_nav_2d_utils/CMakeLists.txt b/src/Libraries/nav_2d_utils/CMakeLists.txt
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rename from src/Libraries/robot_nav_2d_utils/CMakeLists.txt
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diff --git a/src/Libraries/robot_nav_2d_utils/README.md b/src/Libraries/nav_2d_utils/README.md
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diff --git a/src/Libraries/robot_nav_2d_utils/doc/PluginMux.md b/src/Libraries/nav_2d_utils/doc/PluginMux.md
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diff --git a/src/Libraries/robot_nav_2d_utils/doc/PolygonsAndFootprints.md b/src/Libraries/nav_2d_utils/doc/PolygonsAndFootprints.md
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diff --git a/src/Libraries/robot_nav_2d_utils/include/mapbox/LICENSE b/src/Libraries/nav_2d_utils/include/mapbox/LICENSE
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rename from src/Libraries/robot_nav_2d_utils/include/mapbox/LICENSE
rename to src/Libraries/nav_2d_utils/include/mapbox/LICENSE
diff --git a/src/Libraries/robot_nav_2d_utils/include/mapbox/NOTES b/src/Libraries/nav_2d_utils/include/mapbox/NOTES
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diff --git a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/footprint.h b/src/Libraries/nav_2d_utils/include/robot_nav_2d_utils/footprint.h
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diff --git a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/geometry_help.h b/src/Libraries/nav_2d_utils/include/robot_nav_2d_utils/geometry_help.h
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diff --git a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/odom_subscriber.h b/src/Libraries/nav_2d_utils/include/robot_nav_2d_utils/odom_subscriber.h
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diff --git a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/polygons.h b/src/Libraries/nav_2d_utils/include/robot_nav_2d_utils/polygons.h
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diff --git a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/tf_help.h b/src/Libraries/nav_2d_utils/include/robot_nav_2d_utils/tf_help.h
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diff --git a/src/Libraries/robot_nav_2d_utils/package.xml b/src/Libraries/nav_2d_utils/package.xml
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diff --git a/src/Libraries/robot_nav_2d_utils/src/bounds.cpp b/src/Libraries/nav_2d_utils/src/bounds.cpp
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diff --git a/src/Libraries/robot_nav_2d_utils/src/footprint.cpp b/src/Libraries/nav_2d_utils/src/footprint.cpp
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diff --git a/src/Libraries/robot_nav_2d_utils/src/path_ops.cpp b/src/Libraries/nav_2d_utils/src/path_ops.cpp
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diff --git a/src/Libraries/robot_nav_2d_utils/src/polygons.cpp b/src/Libraries/nav_2d_utils/src/polygons.cpp
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rename from src/Libraries/robot_nav_2d_utils/src/polygons.cpp
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diff --git a/src/Libraries/robot_nav_2d_utils/test/param_tests.launch b/src/Libraries/nav_2d_utils/test/param_tests.launch
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diff --git a/src/Libraries/robot_nav_2d_utils/test/polygon_tests.cpp b/src/Libraries/nav_2d_utils/test/polygon_tests.cpp
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rename from src/Libraries/robot_nav_2d_utils/test/polygon_tests.cpp
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diff --git a/src/Libraries/robot_nav_2d_utils/test/resolution_test.cpp b/src/Libraries/nav_2d_utils/test/resolution_test.cpp
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rename from src/Libraries/robot_nav_2d_utils/test/resolution_test.cpp
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diff --git a/src/Libraries/xmlrpcpp b/src/Libraries/xmlrpcpp
index 5575a50..b647022 160000
--- a/src/Libraries/xmlrpcpp
+++ b/src/Libraries/xmlrpcpp
@@ -1 +1 @@
-Subproject commit 5575a50a32a11821eb1ea74bcd66de402df9ef91
+Subproject commit b64702260fc38013587ffa6c1c9c122b1d83de21