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Ooops, you also need to add grotius-tp  here too
github.com/LinuxCNC/linuxcnc/blob/master/src/Makefile#L1330

Looking at my chromebook with 2.10 installed from a .Deb, tpmod.so is installed in
/usr/lib/linuxcnc/modules

My thinking is that you could just deploy your new files in the right location in a stand alone deb.

But I think you also do more than just create a new tpmod version because you change some other files. I think that results in a new motmod.so
If that's the case, its loaded in the hal file so the modular approach of Linuxcnc still lets you keep it compartmentalised and add everything to the core Linuxcnc build just by adding some new folders under /src/emc

The trajectory planner is in
src/emc/tp
So if you made a new folder
src/emc/grotius-tp 
for your planner and included a Submakefile in that folder, you  just need to edit the main make file to include the new folder.
Here is the main tpmod makefile entry
github.com/LinuxCNC/linuxcnc/blob/master/src/Makefile#L1230

You could also use the same approach for changes to motion
github.com/LinuxCNC/linuxcnc/blob/master/src/Makefile#L1215

I suspect the Debian .deb build will include all .so files built, so it may not need changing.

I tested this methodology once by building a new module plasmatask because Andy thought that might be a good approach for plasma. I copied the  /src/emc/task folder to /src/emc/plasmatask and updated the main make file as I describe. Everything built perfectly and I could load plasmatask in the ini file no problems.

If you could do this, grotius-tp would be super simple to include in the main distribution.