Some review:

- debdiffs should be attached to the bug (not a gist)
- version number should follow 
https://wiki.ubuntu.com/SecurityTeam/UpdatePreparation#Update_the_packaging - 
e.g. 2ubuntu0.1, not 2ubuntu1

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Personally, I'd also keep the two commits in the one patch separate,
makes it easier to check

I find the impact too long to read (but it's late). I don't fully
comprehend the test cases - is the library header-only so that  it needs
a rebuild? Otherwise, what happens to existing binaries.

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https://bugs.launchpad.net/bugs/1817595

Title:
  [SRU] urdfdom-headers and urdfdom should not use locale dependent
  parsing for floating point numbers

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