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Some trivial fixes...bigger fixes are pending and probably need some discussion.
21cfef6: it converts windows paths (e.g. ros\core\mk) into *nix paths so that cmake doesn't fall over when it sees backslashes. Further discussion is at #355
c691275: haven't used it here, but will in a coming patch. Useful to have there at any rate.
10fb4ea: comments in the commit.