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Removed xenomai instances and fixed eigen3 references

Alexandros Lioulemes requested to merge feature/libbarrett-non-real-time-Ubuntu-12-04-updates into devel

Description

  • Updated Libbarrett for NON_REALTIME operation under Ubuntu12.04

What to focus on

  • put content here.

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Issues

What issues does this fix?

  • Fixes #issue-number

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