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I encountered the same issue. I tried to message the manager of the repo but no answer yet.
I haven't really had time to dig into the project but my guess is that the claraty_comm package is not really needed for this demo since I believe its only purpose is to communicate with the claraty framework that they run on the actual rover.
I am sorry but claraty_comm (http://claratyhub.jpl.nasa.gov/claraty-ros/unrestricted/claraty_comm.git) cannot be accessed.
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